Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of Luminary 069. They were scanned at archive.org's Boston facility, and the scanning was sponsored by Onno Hommes. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the Luminary 69 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011
	19:02 NOV. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

022264,000002:                                                                                                  ## Copyright:   Public domain.
022265,000003:                                                                                                  ## Filename:    P20-P25.agc
022266,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
022267,000005:                                                                                                  ##              It is part of the source code for the original release
022268,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
022269,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
022270,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
022271,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
022272,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
022273,000011:                                                                                                  ##              that the code format has been changed to conform to the
022274,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
022275,000013:                                                                                                  ##              original YUL assembler.
022276,000014:                                                                                                  ## Reference:   pp. 504-623
022277,000015:                                                                                                  ## Assembler:   yaYUL
022278,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
022279,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
022280,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
022281,000019:                                                                                                  ##              2016-12-14 MAS  Updated from comment-proofed Luminary 99 version.
022282,000020:                                                                                                  ##              2016-01-16 HG   Transcribed
022283,000021:                                                                                                  ##              2017-01-22 HG   Shift pseudo label +3 to column 2.
022284,000022:                                                                                                  ##                              Add missing operator INHINT
022285,000023:                                                                                                  ##              2017-01-23 HG   Fix operator CCS -> CA
022286,000024:                                                                                                  ##                              Fix value TENDEG .27... -> .027...
022287,000025:                                                                                                  ##                              Fix operand R22LEM42 -> R22LEM
022288,000026:                                                                                                  ##                                          GOXDSPF  -> GOXDSPFR
022289,000027:                                                                                                  ##                                          BIT13    -> BIT3
022290,000028:                                                                                                  ##                              Fix operand modifier WWPOS +6 -> WWPOS +4
022291,000029:                                                                                                  ##                              Fix statement CA FLAGWRD2 -> CS FLAGWRD0
022292,000030:                                                                                                  ##                                            EXTEND      -> CCS A
022293,000031:                                                                                                  ##                                            BZF NOTP20  -> TC  NOTP20
022294,000032:                                                                                                  ##              2017-01-27 RSB  Proofed comment text using octopus/prooferComments
022295,000033:                                                                                                  ##                              and fixed errors found.
022296,000034:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
022297,000035:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
022298,000036:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
022299,000037:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
022300,000038: 
022301,000039:                                                                                                  ##

Page 504

022303,000041: 
022304,000042:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
022305,000043:                                                                                                  #  PROGRAM DESCRIPTION
022306,000044:                                                                                                  #  MOD NO - 2
022307,000045:                                                                                                  #  BY  P. VOLANTE
022308,000046:                                                                                                  #  FUNCTIONAL DESCRIPTION
022309,000047: 
022310,000048:                                                                                                  #    THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
022311,000049:                                                                                                  #  STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
022312,000050:                                                                                                  #  THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
022313,000051:                                                                                                  #  ON THE BASIS OF THE RR TRACKING DATA.
022314,000052:                                                                                                  #  CALLING SEQUENCE -
022315,000053: 
022316,000054:                                                                                                  #  ASTRONAUT REQUEST THROUGH DSKY V37E20E
022317,000055:                                                                                                  #  SUBROUTINES CALLED
022318,000056:                                                                                                  #    R02BOTH (IMU STATUS CHECK)               FLAGUP
022319,000057:                                                                                                  #    GOFLASH (PINBALL-DISPLAY)                FLAGDOWN
022320,000058:                                                                                                  #    R23LEM  (MANUAL ACQUISITION)             BANKCALL
022321,000059:                                                                                                  #    LS201   (LOS DETERMINATION)              TASKOVER
022322,000060:                                                                                                  #    LS202   (RANGE LIMIT TEST)
022323,000061:                                                                                                  #    R61LEM  (PREFERRED TRACKING ATTITUDE)
022324,000062:                                                                                                  #    R21LEM  (RR DESIGNATE)                   ENDOFJOB
022325,000063:                                                                                                  #    R22LEM  (DATA READ)                      GOPERF1
022326,000064:                                                                                                  #    R31LEM  (RENDEZVOUS PARAMETER DISPLAY)
022327,000065:                                                                                                  #    PRIOLARM (PRIORITY DISPLAY)
022328,000066:                                                                                                  #  NORMAL EXIT MODES-
022329,000067:                                                                                                  #    P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022330,000068:                                                                                                  #  PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
022331,000069:                                                                                                  #  ALARM OR ABORT EXIT MODES-
022332,000070:                                                                                                  #    RANGE GREATER THAN 400 NM DISPLAY
022333,000071:                                                                                                  #  OUTPUT
022334,000072:                                                                                                  #    TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
022335,000073:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022336,000074:                                                                                                  #  FLAGS SET + RESET
022337,000075:                                                                                                  #    SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
022338,000076:                                                                                                  #  DEBRIS
022339,000077:                                                                                                  #    CENTRALS-A,Q,L
022340,000078: 25,2062  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
022341,000079: 
022342,000080: 33,2045                                           BANK     33                                    
022343,000081: 24,2000                                           SETLOC   P20S                                  
022344,000082: 24,2000                                           BANK                                           
022345,000083: 
022346,000084: 24,2022  E7,1454                                  EBANK=   LOSCOUNT                              
022347,000085: 24,2022                                           COUNT*   $$/P20                                
022348,000086: 24,2022  24,2022               PROG22             =        PROG20                                
022349,000087: 24,2022           05327        PROG20             TC       2PHSCHNG                              
022350,000088: 24,2023           00004                           OCT      4                                     
022351,000089: 24,2024           05022                           OCT      05022                                 
022352,000090: 24,2025           26000                           OCT      26000                                 #  PRIORITY 26
022353,000091: 24,2026           02714                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
022354,000092: 

Page 505

022356,000094: 24,2027           02031                           TC       ORBCHGO                               #  YES
022357,000095: 24,2030           02060                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
022358,000096: 24,2031           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
022359,000097: 24,2032           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
022360,000098: 24,2033           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
022361,000099: 24,2034           55145                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
022362,000100: 24,2035           32342                           CAF      OCT00012                              
022363,000101: 24,2036           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
022364,000102: 24,2037           20506                           CADR     GOPERF4                               
022365,000103: 24,2040           06001                           TC       GOTOPOOH                              #  TERMINATE
022366,000104: 24,2041           02043                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
022367,000105: 24,2042           02035                           TC       -5                                    #  R2 LOADED THRU DSKY
022368,000106: 24,2043           42343        ORBCHG1            CS       P22ONE                                
022369,000107: 24,2044           61145                           AD       OPTION2                               
022370,000108: 24,2045           00006                           EXTEND                                         
022371,000109: 24,2046           12062                           BZF      PROG20A                               
022372,000110: 24,2047           32346                           CAF      V06N33*                               
022373,000111: 24,2050           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
022374,000112: 24,2051           20351                           CADR     GOFLASH                               #  TIME OF LAUNCH
022375,000113: 24,2052           06001                           TC       GOTOPOOH                              #  TERMINATE
022376,000114: 24,2053           02055                           TC       ORBCHG2                               #  PROCEED VALUES OK
022377,000115: 24,2054           02047                           TC       -5                                    #  TIME LOADED THRU DSKY
022378,000116: 24,2055           06036        ORBCHG2            TC       INTPRET                               
022379,000117: 24,2056           77650                           GOTO                                           
022380,000118: 24,2057           64227                                    ORBCHG3                               
022381,000119: 32,2227                                           BANK     32                                    
022382,000120: 32,2000                                           SETLOC   P20S4                                 
022383,000121: 32,2000                                           BANK                                           
022384,000122: 32,2227                                           COUNT*   $$/P20                                
022385,000123: 
022386,000124: 32,2227           77624        ORBCHG3            CALL                                           
022387,000125: 32,2230           27412                                    INTSTALL                              
022388,000126: 32,2231           77745                           DLOAD                                          
022389,000127: 32,2232           03440                                    TIG                                   
022390,000128: 32,2233           03657                           STORE    LNCHTM                                
022391,000129: 32,2234           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
022392,000130: 32,2235           43014                           CLEAR    CLEAR                                 
022393,000131: 32,2236           01674                                    VINTFLAG                              #  LM INTEGRATION
022394,000132: 32,2237           01673                                    INTYPFLG                              #  PRECISION - ENCKE
022395,000133: 32,2240           43014                           CLEAR    CLEAR                                 
022396,000134: 32,2241           01676                                    DIM0FLAG                              #  NO W-MATRIX
022397,000135: 32,2242           01675                                    D6OR9FLG                              
022398,000136: 32,2243           77624                           CALL                                           
022399,000137: 32,2244           27134                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
022400,000138: 32,2245           77624                           CALL                                           
022401,000139: 32,2246           11165                                    GRP2PC                                
022402,000140: 32,2247           77775                           VLOAD                                          
022403,000141: 32,2250           00017                                    RATT1                                 
022404,000142: 32,2251           17627                           STODL    RSUBL                                 #  SAVE LM POSITION
022405,000143: 32,2252           00015                                    TAT                                   
022406,000144: 

Page 506

022408,000146: 32,2253           34041                           STCALL   TDEC1                                 
022409,000147: 32,2254           27412                                    INTSTALL                              
022410,000148: 32,2255           43014                           SET      CLEAR                                 
022411,000149: 32,2256           01474                                    VINTFLAG                              #  CSM INTEGRATION
022412,000150: 32,2257           01673                                    INTYPFLG                              
022413,000151: 32,2260           43014                           CLEAR    BOFF                                  
022414,000152: 32,2261           01676                                    DIM0FLAG                              
022415,000153: 32,2262           02756                                    RENDWFLG                              #  W MATRIX VALID
022416,000154: 32,2263           64267                                    NOWMATX                               #  NO
022417,000155: 32,2264           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
022418,000156: 32,2265           01476                                    DIM0FLAG                              
022419,000157: 32,2266           01475                                    D6OR9FLG                              
022420,000158: 32,2267           77624        NOWMATX            CALL                                           
022421,000159: 32,2270           27134                                    INTEGRV                               #  CSM INTEGRATION
022422,000160: 32,2271           77624                           CALL                                           
022423,000161: 32,2272           11165                                    GRP2PC                                
022424,000162: 32,2273           77775                           VLOAD                                          
022425,000163: 32,2274           00025                                    VATT1                                 
022426,000164: 32,2275           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
022427,000165: 32,2276           00017                                    RATT1                                 
022428,000166: 32,2277           01102                           STORE    RSUBC                                 #  SAVE CSM POSITION
022429,000167: 32,2300           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
022430,000168: 32,2301           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
022431,000169: 32,2302           24025                           STOVL    20D                                   #  SAVE NSUB1
022432,000170: 32,2303           03627                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
022433,000171: 32,2304           53435                           VXV      UNIT                                  #  PLANE CHANGE
022434,000172: 32,2305           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
022435,000173: 32,2306           27635                           STOVL    UCSM                                  
022436,000174: 32,2307           01102                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
022437,000175: 32,2310           50256                           UNIT     DOT                                   #  AND RSUBC
022438,000176: 32,2311           03635                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
022439,000177: 32,2312           77752                           SL1                                            
022440,000178: 32,2313           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
022441,000179: 32,2314           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
022442,000180: 32,2315           10345                                    ONEB-2                                
022443,000181: 32,2316           77766                           SQRT                                           
022444,000182: 32,2317           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
022445,000183: 32,2320           01102                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
022446,000184: 32,2321           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
022447,000185: 32,2322           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
022448,000186: 32,2323           77676                           VCOMP                                          
022449,000187: 32,2324           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
022450,000188: 32,2325           45014                           CLEAR    CALL                                  
022451,000189: 32,2326           03666                                    RVSW                                  
022452,000190: 32,2327           24745                                    TIMETHET                              
022453,000191: 32,2330           77676                           VCOMP                                          
022454,000192: 32,2331           03643                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
022455,000193: 32,2332           77745                           DLOAD                                          
022456,000194: 32,2333           00037                                    T                                     
022457,000195: 32,2334           27661                           STOVL    TRANSTM                               #  TRANSFER TIME
022458,000196: 

Page 507

022460,000198: 32,2335           03643                                    NEWVEL                                
022461,000199: 32,2336           77646                           ABVAL                                          
022462,000200: 32,2337           24025                           STOVL    20D                                   
022463,000201: 32,2340           00001                                    0D                                    
022464,000202: 32,2341           03651                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
022465,000203: 32,2342           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
022466,000204: 32,2343           03627                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
022467,000205: 32,2344           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
022468,000206: 32,2345           03651                                    NEWPOS                                #  ORBITAL PLANE
022469,000207: 32,2346           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
022470,000208: 32,2347           00025                                    20D                                   
022471,000209: 32,2350           37663                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
022472,000210: 32,2351           11165                                    GRP2PC                                
022473,000211: 32,2352           77624                           CALL                                           
022474,000212: 32,2353           27412                                    INTSTALL                              
022475,000213: 32,2354           44345                           DLOAD    BDSU                                  
022476,000214: 32,2355           03661                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
022477,000215: 32,2356           03657                                    LNCHTM                                
022478,000216: 32,2357           25517                           STOVL    TET                                   
022479,000217: 32,2360           03651                                    NEWPOS                                
022480,000218: 32,2361           01535                           STORE    RCV                                   
022481,000219: 32,2362           25503                           STOVL    RRECT                                 
022482,000220: 32,2363           03663                                    NCSMVEL                               
022483,000221: 32,2364           35511                           STCALL   VRECT                                 
022484,000222: 32,2365           23361                                    MINIRECT                              
022485,000223: 32,2366           45174                           AXT,2    CALL                                  
022486,000224: 32,2367           00002                                    2                                     
022487,000225: 32,2370           26661                                    ATOPCSM                               
022488,000226: 32,2371           77624                           CALL                                           
022489,000227: 32,2372           27425                                    INTWAKE0                              
022490,000228: 32,2373           77776                           EXIT                                           
022491,000229: 32,2374           04616                           TC       BANKCALL                              
022492,000230: 32,2375           50062                           CADR     PROG20A                               
022493,000231: 24,2060                                           BANK     24                                    
022494,000232: 24,2000                                           SETLOC   P20S                                  
022495,000233: 24,2000                                           BANK                                           
022496,000234: 24,2060                                           COUNT*   $$/P20                                
022497,000235: 
022498,000236: 24,2060           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG- LM STATE VECTOR
022499,000237: 24,2061           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
022500,000238: 24,2062           04616        PROG20A            TC       BANKCALL                              
022501,000239: 24,2063           11175                           CADR     R02BOTH                               
022502,000240: 24,2064           05504                           TC       UPFLAG                                
022503,000241: 24,2065           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
022504,000242: 24,2066           05504                           TC       UPFLAG                                
022505,000243: 24,2067           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
022506,000244: 24,2070           05504                           TC       UPFLAG                                
022507,000245: 24,2071           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
022508,000246: 24,2072           05516                           TC       DOWNFLAG                              
022509,000247: 24,2073           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF
022510,000248: 

Page 508

022512,000250: 24,2074           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
022513,000251: 24,2075           00040                           ADRES    ACMODFLG                              
022514,000252: 24,2076           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
022515,000253: 24,2077           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
022516,000254: 24,2100           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
022517,000255: 24,2101           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
022518,000256: 24,2102           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
022519,000257: 24,2103           00041                           ADRES    LOSCMFLG                              
022520,000258: 24,2104           05353        P20LEM1            TC       PHASCHNG                              
022521,000259: 24,2105           04022                           OCT      04022                                 
022522,000260: 24,2106           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
022523,000261: 24,2107           55460                           TS       MARKCTR                               
022524,000262: 24,2110           06036                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
022525,000263: 24,2111           77634                           RTB                                            
022526,000264: 24,2112           21462                                    LOADTIME                              
022527,000265: 24,2113           34041                           STCALL   TDEC1                                 
022528,000266: 24,2114           51151                                    LPS20.1                               
022529,000267: 24,2115           77624                           CALL                                           
022530,000268: 24,2116           53565                                    LPS20.2                               #  TEST RANGE R/UTINE
022531,000269: 24,2117           77776                           EXIT                                           
022532,000270: 24,2120           50154                           INDEX    MPAC                                  
022533,000271: 24,2121           02122                           TC       +1                                    
022534,000272: 24,2122           02132                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
022535,000273: 24,2123           32336        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
022536,000274: 24,2124           04616                           TC       BANKCALL                              
022537,000275: 24,2125           21451                           CADR     PRIOLARM                              
022538,000276: 24,2126           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022539,000277: 24,2127           02123                           TC       -4                                    #  PROC (ILLEGAL
022540,000278: 24,2130           02104                           TC       P20LEM1                               #  ENTER RECYCLE
022541,000279: 24,2131           05155                           TC       ENDOFJOB                              
022542,000280: 
022543,000281: 
022544,000282: 24,2132           05353        P20LEMA            TC       PHASCHNG                              
022545,000283: 24,2133           04022                           OCT      04022                                 
022546,000284: 24,2134           02714                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
022547,000285: 24,2135           02140                           TC       P20LEMB                               
022548,000286: 24,2136           04616                           TC       BANKCALL                              
022549,000287: 24,2137           46100                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
022550,000288: 24,2140           05353        P20LEMB            TC       PHASCHNG                              
022551,000289: 24,2141           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
022552,000290: 24,2142           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
022553,000291: 24,2143           37713                           CAF      PRIO26                                #  RESTORE PRIORITY 26
022554,000292: 24,2144           05146                           TC       PRIOCHNG                              
022555,000293: 24,2145           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
022556,000294: 24,2146           74747                           MASK     TRACKBIT                              
022557,000295: 24,2147           00006                           EXTEND                                         
022558,000296: 24,2150           12262                           BZF      P20LEMWT                              #   BRANCH - NO - WAIT FOR IT TO BE SET
022559,000297: 24,2151           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
022560,000298: 24,2152           00006                           EXTEND                                         
022561,000299: 24,2153           02033                           RAND     CHAN33                                
022562,000300: 

Page 509

022564,000302: 24,2154           00006                           EXTEND                                         
022565,000303: 24,2155           12211                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
022566,000304: 
022567,000305: 24,2156           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
022568,000306: 24,2157           61011                           AD       MODREG                                #  MAJOR MODE IS 20
022569,000307: 24,2160           00006                           EXTEND                                         
022570,000308: 24,2161           12174                           BZF      P20LEMB6                              #  BRANCH - YES-OK TO DO PLEASE PERFORM
022571,000309: 
022572,000310: 
022573,000311: 24,2162           67745                           AD       NEG2                                  #  ALSO CHECK FOR P22
022574,000312: 24,2163           00006                           EXTEND                                         
022575,000313: 24,2164           12174                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
022576,000314: 24,2165           32340                           CAF      ALRM514                               #  TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022577,000315: 24,2166           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
022578,000316: 24,2167           21451                           CADR     PRIOLARM                              
022579,000317: 24,2170           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
022580,000318: 24,2171           02140                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
022581,000319: 24,2172           02140                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
022582,000320: 24,2173           05155                           TC       ENDOFJOB                              
022583,000321: 24,2174           32337        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
022584,000322: 24,2175           04616                           TC       BANKCALL                              
022585,000323: 24,2176           20476                           CADR     GOPERF1                               
022586,000324: 24,2177           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022587,000325: 24,2200           02140                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022588,000326: 24,2201           02714                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
022589,000327: 24,2202           02207                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022590,000328: 24,2203           03027                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
022591,000329: 
022592,000330: 
022593,000331: 24,2204           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
022594,000332: 24,2205           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
022595,000333: 24,2206           02140                           TC       P20LEMB                               #  RR AUTO MODE
022596,000334: 
022597,000335: 
022598,000336: 24,2207           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
022599,000337: 24,2210           02140                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
022600,000338: 
022601,000339: 
022602,000340: 24,2211           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
022603,000341: 24,2212           74737                           MASK     BIT13                                 #  (BIT 13 RADMODES EQUAL ONE)
022604,000342: 24,2213           00006                           EXTEND                                         
022605,000343: 24,2214           12226                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
022606,000344: 24,2215           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
022607,000345: 24,2216           70076                           MASK     FLAGWRD2                              
022608,000346: 24,2217           00006                           EXTEND                                         
022609,000347: 24,2220           12232                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
022610,000348: 24,2221           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
022611,000349: 24,2222           00037                           ADRES    SRCHOPTN                              
022612,000350: 24,2223           05516                           TC       DOWNFLAG                              
022613,000351: 

Page 510

022615,000353: 24,2224           00040                           ADRES    ACMODFLG                              
022616,000354: 24,2225           02262                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022617,000355: 
022618,000356: 
022619,000357: 24,2226           32335        P20LEMB4           CAF      250DEC                                
022620,000358: 24,2227           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022621,000359: 24,2230           01735                           CADR     DELAYJOB                              #  ZEROED-THEN GO BACK AND CHECK AGAIN
022622,000360: 24,2231           02211                           TC       P20LEMB3                              
022623,000361: 
022624,000362: 
022625,000363: 24,2232           06036        P20LEMC3           TC       INTPRET                               
022626,000364: 24,2233           77624                           CALL                                           #  DO A PERMANENT MEMORY PRECISION
022627,000365: 24,2234           50347                                    UPPSV                                 #  INTEGRATION TO ESTABLISH AN UP-TO-DATE
022628,000366: 24,2235           77214                           BOFF     VLOAD                                 #  BASE FOR CONICS (KEPLER) IN R21
022629,000367: 24,2236           04347                                    SURFFLAG                              
022630,000368: 24,2237           50246                                    P20LEMC4                              
022631,000369: 24,2240           01661                                    RCVLEM                                #  WHEN ON LUNAR SURFACE
022632,000370: 24,2241           77742                           VSR2                                           #  SCALE B-29
022633,000371: 24,2242           26356                           STOVL    LMPOS                                 
022634,000372: 24,2243           01667                                    VCVLEM                                
022635,000373: 24,2244           77742                           VSR2                                           
022636,000374: 24,2245           02364                           STORE    LMVEL                                 
022637,000375: 24,2246           77776        P20LEMC4           EXIT                                           
022638,000376: 24,2247           05353        P20LEMC            TC       PHASCHNG                              
022639,000377: 24,2250           04022                           OCT      04022                                 
022640,000378: 24,2251           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
022641,000379: 24,2252           74745                           MASK     RNDVZBIT                              
022642,000380: 24,2253           00006                           EXTEND                                         
022643,000381: 24,2254           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
022644,000382: 24,2255           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET  (BIT 5 FLAGWORD 1)
022645,000383: 24,2256           74747                           MASK     TRACKBIT                              
022646,000384: 24,2257           00006                           EXTEND                                         
022647,000385: 24,2260           12315                           BZF      P20LEMD                               #  BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022648,000386: 24,2261           02721        P20LEMF            TC       R21LEM                                
022649,000387: 
022650,000388: 
022651,000389: 24,2262           32335        P20LEMWT           CAF      250DEC                                
022652,000390: 24,2263           00004                           INHINT                                         
022653,000391: 24,2264           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
022654,000392: 24,2265           02275                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
022655,000393: 24,2266           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022656,000394: 24,2267           74747                           MASK     TRACKBIT                              
022657,000395: 24,2270           00006                           EXTEND                                         
022658,000396: 24,2271           15155                           BZF      ENDOFJOB                              #  NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022659,000397: 24,2272           05353        P20LMWT1           TC       PHASCHNG                              
022660,000398: 24,2273           40072                           OCT      40072                                 
022661,000399: 24,2274           05155                           TC       ENDOFJOB                              
022662,000400: 
022663,000401: 
022664,000402: 24,2275           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
022665,000403: 

Page 511

022667,000405: 24,2276           74745                           MASK     RNDVZBIT                              
022668,000406: 24,2277           00006                           EXTEND                                         
022669,000407: 24,2300           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
022670,000408: 24,2301           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022671,000409: 24,2302           74747                           MASK     TRACKBIT                              
022672,000410: 24,2303           00006                           EXTEND                                         
022673,000411: 24,2304           12312                           BZF      P20LEMC2                              #  NO-DONT SCHEDULE R22 JOB
022674,000412: 24,2305           37713                           CAF      PRIO26                                #  YES-SCHEDULE R22 JOB (RR DATA READ)
022675,000413: 24,2306           05105                           TC       FINDVAC                               
022676,000414: 24,2307  E7,1454                                  EBANK=   LOSCOUNT                              
022677,000415: 24,2307           02477 50067                     2CADR    R22LEM                                
022678,000416: 24,2311           05261                           TC       TASKOVER                              
022679,000417: 
022680,000418: 
022681,000419: 24,2312           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET ,WAIT 15 SECONDS
022682,000420: 24,2313           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
022683,000421: 
022684,000422: 24,2314           02275                           TC       P20LEMC1                              
022685,000423: 
022686,000424: 24,2315           32712        P20LEMD            CAF      1500DEC                               
022687,000425: 24,2316           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
022688,000426: 24,2317           02321                           ADRES    P20LEMD1                              
022689,000427: 24,2320           05155                           TC       ENDOFJOB                              
022690,000428: 
022691,000429: 
022692,000430: 24,2321           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022693,000431: 24,2322           74747                           MASK     TRACKBIT                              
022694,000432: 24,2323           10000                           CCS      A                                     
022695,000433: 24,2324           12330                           TCF      P20LEMD2                              #  YES-SCHEDULE DESIGNATE JOB
022696,000434: 24,2325           05221                           TC       FIXDELAY                              #  NO-WAIT 15 SECONDS
022697,000435: 24,2326           02734                           DEC      1500       B-14                       
022698,000436: 24,2327           02321                           TC       P20LEMD1                              
022699,000437: 
022700,000438: 
022701,000439: 24,2330           37713        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
022702,000440: 24,2331           05105                           TC       FINDVAC                               
022703,000441: 24,2332  E7,1454                                  EBANK=   LOSCOUNT                              
022704,000442: 24,2332           02232 50067                     2CADR    P20LEMC3                              #  START AT PERM. MEMORY INTEGRATION
022705,000443: 24,2334           05261                           TC       TASKOVER                              
022706,000444: 
022707,000445: 
022708,000446: 24,2335           00372        250DEC             DEC      250        B-14                       
022709,000447: 24,2336           00526        ALRM526            OCT      00526                                 
022710,000448: 24,2337           00201        OCT201             OCT      00201                                 
022711,000449: 24,2340           00514        ALRM514            OCT      514                                   
022712,000450: 24,2341           00074        MAXTRIES           DEC      60         B-14                       
022713,000451: 24,2342           00012        OCT00012           OCT      00012                                 
022714,000452: 24,2343           00001        P22ONE             OCT      00001                                 
022715,000453: 

Page 512

022717,000455: 24,2344           10000 00000  ONEB-2             2DEC     1.0        B-2                        
022718,000456: 24,2346           01441        V06N33*            VN       0633                                  
022719,000457: 24,2347           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
022720,000458: 24,2350           01757                                    LS21X                                 #   TO PRESENT TIME
022721,000459: 24,2351           27412                                    INTSTALL                              
022722,000460: 24,2352           77624                           CALL                                           
022723,000461: 24,2353           26644                                    SETIFLGS                              
022724,000462: 24,2354           43014                           BOF      SET                                   #  IF W-MATRIX INVALID,DONT INTEGRATE IT
022725,000463: 24,2355           02756                                    RENDWFLG                              
022726,000464: 24,2356           50367                                    UPPSV1                                
022727,000465: 24,2357           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
022728,000466: 24,2360           43014                           BON      SET                                   
022729,000467: 24,2361           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
022730,000468: 24,2362           50364                                    UPPSV5                                
022731,000469: 24,2363           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
022732,000470: 24,2364           77614        UPPSV5             BOF                                            
022733,000471: 24,2365           00747                                    VEHUPFLG                              
022734,000472: 24,2366           50411                                    UPPSV3                                
022735,000473: 24,2367           47014        UPPSV1             SET      RTB                                   #  CSM STATE BEING CORRECTED
022736,000474: 24,2370           01474                                    VINTFLAG                              
022737,000475: 24,2371           21462                                    LOADTIME                              
022738,000476: 24,2372           34041                           STCALL   TDEC1                                 #  INTEGRATE CSM STATE WITH W-MATRIX
022739,000477: 24,2373           27134                                    INTEGRV                               
022740,000478: 24,2374           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
022741,000479: 24,2375           11165                                    GRP2PC                                #  TO PROTECT INTEGRATION
022742,000480: 24,2376           77624                           CALL                                           
022743,000481: 24,2377           27412                                    INTSTALL                              
022744,000482: 24,2400           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
022745,000483: 24,2401           01571                                    TETCSM                                
022746,000484: 24,2402           01674                                    VINTFLAG                              
022747,000485: 24,2403           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
022748,000486: 24,2404           26644                                    SETIFLGS                              #   WITHOUT W-MATRIX
022749,000487: 24,2405           34041                           STCALL   TDEC1                                 
022750,000488: 24,2406           27134                                    INTEGRV                               
022751,000489: 24,2407           77650                           GOTO                                           
022752,000490: 24,2410           01757                                    LS21X                                 
022753,000491: 
022754,000492: 
022755,000493: 24,2411           47014        UPPSV3             CLEAR    RTB                                   
022756,000494: 24,2412           01674                                    VINTFLAG                              
022757,000495: 24,2413           21462                                    LOADTIME                              
022758,000496: 24,2414           34041                           STCALL   TDEC1                                 #  INTEGRATE LM STATE WITH W-MATRIX
022759,000497: 24,2415           27134                                    INTEGRV                               
022760,000498: 24,2416           77624                           CALL                                           
022761,000499: 24,2417           11165                                    GRP2PC                                
022762,000500: 24,2420           77624                           CALL                                           
022763,000501: 24,2421           27412                                    INTSTALL                              
022764,000502: 24,2422           71214                           SET      DLOAD                                 
022765,000503: 24,2423           01474                                    VINTFLAG                              
022766,000504: 

Page 513

022768,000506: 24,2424           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.
022769,000507: 24,2425           77650                           GOTO                                           
022770,000508: 24,2426           50403                                    UPPSV4                                
022771,000509: 
022772,000510: 
022773,000511: 24,2427  E7,1454                                  EBANK=   LOSCOUNT                              
022774,000512: 24,2427                                           COUNT*   $$/P22                                
022775,000513: 

Page 514

022777,000515:                                                                                                  #  PROGRAM DESCRIPTION
022778,000516:                                                                                                  #  PREFERRED TRACKING ATTITUDE PROGRAM P25
022779,000517:                                                                                                  #  MOD NO - 3
022780,000518:                                                                                                  #  BY  P. VOLANTE
022781,000519:                                                                                                  #  FUNCTIONAL DESCRIPTION
022782,000520: 
022783,000521:                                                                                                  #    THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022784,000522:                                                                                                  #  ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022785,000523:                                                                                                  #  CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022786,000524:                                                                                                  #  CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022787,000525:                                                                                                  #  CALLING SEQUENCE -
022788,000526:                                                                                                  #    ASTRONAUT REQUEST THROUGH DSKY V37E25E
022789,000527:                                                                                                  #  SUBROUTINES CALLED -
022790,000528:                                                                                                  #    BANKCALL                      FLAGUP
022791,000529:                                                                                                  #    R02BOTH  (IMU STATUS CHECK)   ENDOFJOB
022792,000530:                                                                                                  #    R61LEM   (PREF TRK ATT ROUT)  WAITLIST
022793,000531:                                                                                                  #    TASKOVER                      FINDVAC
022794,000532:                                                                                                  #  NORMAL EXIT MODES  -
022795,000533:                                                                                                  #    P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022796,000534:                                                                                                  #  PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022797,000535:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022798,000536:                                                                                                  #    NONE
022799,000537:                                                                                                  #  OUTPUT
022800,000538:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022801,000539:                                                                                                  #  FLAGS SET + RESET
022802,000540:                                                                                                  #    TRACKFLG,P25FLAG
022803,000541:                                                                                                  #  DEBRIS
022804,000542:                                                                                                  #    NONE
022805,000543: 24,2427  E7,1454                                  EBANK=   LOSCOUNT                              
022806,000544: 24,2427                                           COUNT*   $$/P25                                
022807,000545: 24,2427           05327        PROG25             TC       2PHSCHNG                              
022808,000546: 24,2430           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
022809,000547: 24,2431           05022                           OCT      05022                                 
022810,000548: 24,2432           26000                           OCT      26000                                 #  PRIORITY 26
022811,000549: 
022812,000550: 24,2433           04616                           TC       BANKCALL                              
022813,000551: 24,2434           11175                           CADR     R02BOTH                               #  IMU STATUS CHECK
022814,000552: 24,2435           05504                           TC       UPFLAG                                
022815,000553: 24,2436           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
022816,000554: 24,2437           05504                           TC       UPFLAG                                
022817,000555: 24,2440           00006                           ADRES    P25FLAG                               #  SET P25FLAG
022818,000556: 24,2441           05353        P25LEM1            TC       PHASCHNG                              
022819,000557: 24,2442           04022                           OCT      04022                                 
022820,000558: 24,2443           34743                           CAF      P25FLBIT                              
022821,000559: 24,2444           70074                           MASK     STATE                                 #  IS P25FLAG SET
022822,000560: 24,2445           00006                           EXTEND                                         
022823,000561: 24,2446           15155                           BZF      ENDOFJOB                              
022824,000562: 24,2447           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
022825,000563: 24,2450           70075                           MASK     STATE      +1                         
022826,000564: 24,2451           00006                           EXTEND                                         
022827,000565: 

Page 515

022829,000567: 24,2452           12462                           BZF      P25LMWT1                              #  NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022830,000568: 24,2453           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
022831,000569: 24,2454           55743                           TS       R65CNTR                               
022832,000570: 24,2455           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
022833,000571: 24,2456           46105                           CADR     R65LEM                                
022834,000572: 24,2457           02441                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
022835,000573: 24,2460           05353        P25LEMWT           TC       PHASCHNG                              
022836,000574: 24,2461           00112                           OCT      00112                                 
022837,000575: 24,2462           32474        P25LMWT1           CAF      60SCNDS                               
022838,000576: 24,2463           00004                           INHINT                                         
022839,000577: 24,2464           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
022840,000578: 24,2465           02467                           ADRES    P25LEM2                               
022841,000579: 24,2466           05155                           TC       ENDOFJOB                              
022842,000580: 24,2467           35024        P25LEM2            CAF      PRIO14                                
022843,000581: 24,2470           05105                           TC       FINDVAC                               
022844,000582: 24,2471  E7,1454                                  EBANK=   LOSCOUNT                              
022845,000583: 24,2471           02441 50067                     2CADR    P25LEM1                               
022846,000584: 24,2473           05261                           TC       TASKOVER                              
022847,000585: 24,2474           13560        60SCNDS            DEC      6000       B-14                       
022848,000586: 24,2475           77776        P25OK              EXIT                                           
022849,000587: 24,2476           02460                           TC       P25LEMWT                              
022850,000588: 

Page 516

022852,000590:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
022853,000591:                                                                                                  #  PROGRAM DESCRIPTION
022854,000592:                                                                                                  #  MOD NO - 2
022855,000593:                                                                                                  #  BY P VOLANTE
022856,000594:                                                                                                  #  FUNCTIONAL DESCRIPTION
022857,000595: 
022858,000596:                                                                                                  #    TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022859,000597:                                                                                                  #  LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022860,000598:                                                                                                  #  CALLING SEQUENCE -
022861,000599:                                                                                                  #           TC     BANKCALL
022862,000600:                                                                                                  #           CADR   R22LEM
022863,000601:                                                                                                  #  SUBROUTINES CALLED -
022864,000602:                                                                                                  #    LSR22.1           GOFLASH        WAITLIST
022865,000603:                                                                                                  #    LSR22.2           PRIOLARM       BANKCALL
022866,000604:                                                                                                  #    LSR22.3           R61LEM
022867,000605:                                                                                                  #  NORMAL EXIT MODES-
022868,000606:                                                                                                  #    R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
022869,000607:                                                                                                  #  UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022870,000608:                                                                                                  #  R22 WILL TERMINATE SELF.
022871,000609:                                                                                                  #  ALARM OR ABORT EXIT MODES-
022872,000610:                                                                                                  #    PRIORITY ALARM
022873,000611:                                                                                                  #  PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022874,000612:                                                                                                  #  OUTPUT
022875,000613:                                                                                                  #    SEE OUTPUT FROM LSR22.3
022876,000614:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022877,000615:                                                                                                  #    SEE LSR22.1,LSR22.2,LSR22.3
022878,000616:                                                                                                  #  FLAGS SET + RESET
022879,000617:                                                                                                  #    NOANGFLG
022880,000618:                                                                                                  #  DEBRIS
022881,000619:                                                                                                  #    SEE LSR22.1,LSR22.2,LSR22.3
022882,000620: 24,2477  E7,1735                                  EBANK=   LRS22.1X                              
022883,000621: 24,2477                                           COUNT*   $$/R22                                
022884,000622: 24,2477           05353        R22LEM             TC       PHASCHNG                              
022885,000623: 24,2500           04022                           OCT      04022                                 
022886,000624: 24,2501           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
022887,000625: 24,2502           70074                           MASK     STATE                                 
022888,000626: 24,2503           00006                           EXTEND                                         
022889,000627: 24,2504           15155                           BZF      ENDOFJOB                              #  NO-EXIT R22 AND P20
022890,000628: 24,2505           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
022891,000629: 24,2506           70075                           MASK     STATE      +1                         
022892,000630: 24,2507           00006                           EXTEND                                         
022893,000631: 24,2510           12664                           BZF      R22WAIT                               #  NO WAIT
022894,000632: 24,2511           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
022895,000633: 24,2512           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARSIT
022896,000634: 24,2513           02012                           RAND     CHAN12                                
022897,000635: 24,2514           00006                           EXTEND                                         
022898,000636: 24,2515           12132                           BZF      P20LEMA                               #  NO - RETURN TO P20
022899,000637: 24,2516           34752                           CAF      BIT2                                  #  YES
022900,000638: 24,2517           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
022901,000639: 24,2520           02033                           RAND     CHAN33                                
022902,000640: 

Page 517

022904,000642: 24,2521           00006                           EXTEND                                         
022905,000643: 24,2522           12524                           BZF      +2                                    #  YES CONTINUE
022906,000644: 24,2523           02156                           TC       P20LEMB5                              #  NO - SET IT
022907,000645: 24,2524           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
022908,000646: 24,2525           74737                           MASK     BIT13                                 #  (BIT 13 RADMODES EQUAL ONE)
022909,000647: 24,2526           00006                           EXTEND                                         
022910,000648: 24,2527           12655                           BZF      R22LEM42                              #  CDUS BEING ZEROED
022911,000649: 24,2530           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS,AN EXTRA RADAR
022912,000650: 24,2531           00152                           OCT      00152                                 #  READING IS TAKEN,SO BAD DATA ISN'T USED
022913,000651: 24,2532           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
022914,000652: 24,2533           64376                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
022915,000653: 24,2534           50154                           INDEX    MPAC                                  
022916,000654: 24,2535           02536                           TC       +1                                    
022917,000655: 24,2536           02557                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
022918,000656: 24,2537           02247                           TC       P20LEMC                               #  COULD NOT READ RADAR-TRY TO REDESIGNATE
022919,000657: 24,2540           32707                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
022920,000658: 24,2541           04616                           TC       BANKCALL                              
022921,000659: 24,2542           21451                           CADR     PRIOLARM                              
022922,000660: 24,2543           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022923,000661: 24,2544           02547                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
022924,000662: 24,2545           02540                           TC       -5                                    #  ENTER (ILLEGAL OPTION)
022925,000663: 24,2546           05155                           TC       ENDOFJOB                              
022926,000664: 
022927,000665: 
022928,000666: 24,2547           05353        R22LEM1            TC       PHASCHNG                              
022929,000667: 24,2550           04022                           OCT      04022                                 
022930,000668: 24,2551           32710                           CAF      V06N05                                #  DISPLAY DELTA THETA
022931,000669: 24,2552           04616                           TC       BANKCALL                              
022932,000670: 24,2553           20362                           CADR     PRIODSP                               
022933,000671: 24,2554           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022934,000672: 24,2555           02557                           TC       R22LEM2                               #  PROC (OK CONTINUE)
022935,000673: 24,2556           02247                           TC       P20LEMC                               #  ENTER(RECYCLE)
022936,000674: 24,2557           05353        R22LEM2            TC       PHASCHNG                              
022937,000675: 24,2560           04022                           OCT      04022                                 
022938,000676: 24,2561           02714                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022939,000677: 24,2562           02577                           TC       R22LEM3                               #  YES-BYPASS FLAG CHECKS AND LRS22.2
022940,000678: 24,2563           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
022941,000679: 24,2564           74747                           MASK     TRACKBIT                              
022942,000680: 24,2565           00006                           EXTEND                                         
022943,000681: 24,2566           12664                           BZF      R22WAIT                               #  NO - WAIT
022944,000682: 24,2567           04616                           TC       BANKCALL                              #  YES
022945,000683: 24,2570           51230                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022946,000684: 24,2571           50154                           INDEX    MPAC                                  
022947,000685: 24,2572           02573                           TC       +1                                    
022948,000686: 24,2573           02577                           TC       R22LEM3                               #  NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
022949,000687: 24,2574           04616                           TC       BANKCALL                              
022950,000688: 24,2575           46100                           CADR     R61LEM                                
022951,000689: 24,2576           02664                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
022952,000690: 24,2577           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
022953,000691: 24,2600           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)
022954,000692: 

Page 518

022956,000694: 24,2601           00006                           EXTEND                                         
022957,000695: 24,2602           12655                           BZF      R22LEM42                              #  BRANCH-YES
022958,000696: 24,2603           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
022959,000697: 24,2604           74745                           MASK     UPDATBIT                              
022960,000698: 24,2605           00006                           EXTEND                                         
022961,000699: 24,2606           12655                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
022962,000700: 24,2607           37713                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
022963,000701: 24,2610           55056                           TS       PHSPRDT2                              
022964,000702: 
022965,000703: 24,2611           06036                           TC       INTPRET                               
022966,000704: 24,2612           77650                           GOTO                                           
022967,000705: 24,2613           54370                                    LSR22.3                               
022968,000706: 24,2614           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
022969,000707: 24,2615           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
022970,000708: 24,2616           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
022971,000709: 24,2617           12650                           TCF      R22LEM44                              
022972,000710: 24,2620           77776        R22LEM96           EXIT                                           
022973,000711: 24,2621           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
022974,000712: 24,2622           55744                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
022975,000713: 24,2623           05353                           TC       PHASCHNG                              
022976,000714: 24,2624           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
022977,000715: 24,2625           37714                           CAF      PRIO27                                #  PROTECT DISPLAY
022978,000716: 24,2626           05072                           TC       NOVAC                                 
022979,000717: 24,2627  E7,1744                                  EBANK=   N49FLAG                               
022980,000718: 24,2627           02670 50067                     2CADR    N49DSP                                
022981,000719: 24,2631           06036                           TC       INTPRET                               
022982,000720: 24,2632           77735                           SLOAD                                          
022983,000721: 24,2633           03745                                    N49FLAG                               
022984,000722: 24,2634           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
022985,000723: 24,2635           50632                                    -3                                    #  SETTING CHANGED-BRANCH - NO
022986,000724: 24,2636           50644                                    R22LEM7                               #  PROCEED
022987,000725: 24,2637           77776                           EXIT                                           #  DISPLAY ANSWERED BY RECYCLE
022988,000726: 24,2640           02714                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
022989,000727: 24,2641           02664                           TC       R22WAIT                               #  YES - 15 SECOND DELAY
022990,000728: 24,2642           34755                           CA       ZERO                                  #  NO - SET R65COUNTER = 0, DO FINE
022991,000729: 24,2643           02660                           TC       R22LEM45                              #  TRACKING TAKE ANOTHER RADAR READING
022992,000730: 24,2644           77624        R22LEM7            CALL                                           #  PROCEED
022993,000731: 24,2645           11165                                    GRP2PC                                #  PHASE CHANGE AND
022994,000732: 24,2646           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
022995,000733: 24,2647           55374                                    ASTOK                                 
022996,000734: 24,2650           25460        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
022997,000735: 24,2651           02714                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
022998,000736: 24,2652           02666                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
022999,000737: 24,2653           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
023000,000738: 24,2654           02660                           TC       R22LEM45                              #  R65COUNTER = 5
023001,000739: 24,2655           02714        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
023002,000740: 24,2656           02666                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
023003,000741: 24,2657           34752                           CA       TWO                                   #  NO-SET R65COUNTER = 2
023004,000742: 24,2660           55743        R22LEM45           TS       R65CNTR                               
023005,000743: 

Page 519

023007,000745: 24,2661           04616                           TC       BANKCALL                              
023008,000746: 24,2662           46105                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
023009,000747: 24,2663           02477                           TC       R22LEM                                
023010,000748: 24,2664           32712        R22WAIT            CAF      1500DEC                               
023011,000749: 24,2665           02263                           TC       P20LEMWT   +1                         
023012,000750: 
023013,000751: 
023014,000752: 24,2666           35000        R22LEM46           CAF      2SECS                                 
023015,000753: 24,2667           02263                           TC       P20LEMWT   +1                         
023016,000754: 
023017,000755: 
023018,000756: 24,2670           32711        N49DSP             CAF      V06N49NB                              
023019,000757: 24,2671           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
023020,000758: 24,2672           20362                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
023021,000759: 24,2673           06022                           TC       GOTOV56                               #  TERMINATE - EXIT R22 AND P20
023022,000760: 24,2674           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
023023,000761: 24,2675           55744                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
023024,000762: 24,2676           05155                           TC       ENDOFJOB                              
023025,000763: 24,2677           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
023026,000764: 24,2700           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
023027,000765: 24,2701           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
023028,000766: 24,2702           53103                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
023029,000767: 24,2703           04616                           TC       BANKCALL                              #  BAD DATA
023030,000768: 24,2704           17667                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
023031,000769: 24,2705           02247                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
023032,000770: 24,2706           02477                           TC       R22LEM                                #  READ SUCCESSFUL - CONTINUE AT R22
023033,000771: 
023034,000772: 
023035,000773: 24,2707           00525        ALRM525            OCT      00525                                 
023036,000774: 24,2710           01405        V06N05             VN       00605                                 
023037,000775: 24,2711           01461        V06N49NB           VN       00649                                 
023038,000776: 24,2712           02734        1500DEC            DEC      1500       B-14                       
023039,000777: 24,2713           10624        45SECNDS           DEC      4500       B-14                       
023040,000778:                                                                                                  #  LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
023041,000779:                                                                                                  #           RETURNS TO CALLER +1 IF P22FLAG SET
023042,000780:                                                                                                  #                   TO CALLER +2 IF P22FLAG NOT SET
023043,000781: 
023044,000782: 
023045,000783: 24,2714                                           COUNT*   $$/P22                                
023046,000784: 24,2714           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
023047,000785: 24,2715           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
023048,000786: 24,2716           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
023049,000787: 24,2717           24002                           INCR     Q                                     #  NOT SET
023050,000788: 24,2720           00002                           TC       Q                                     #  RETURN
023051,000789: 

Page 520

023053,000791:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
023054,000792:                                                                                                  #  PROGRAM DESCRIPTION
023055,000793:                                                                                                  #  MOD NO - 2
023056,000794:                                                                                                  #  BY P VOLANTE
023057,000795:                                                                                                  #  FUNCTIONAL DESCRIPTION
023058,000796: 
023059,000797:                                                                                                  #    TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
023060,000798:                                                                                                  #  OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
023061,000799:                                                                                                  #  CALLING SEQUENCE -
023062,000800:                                                                                                  #           TC     BANKCALL
023063,000801:                                                                                                  #           CADR   R21LEM
023064,000802:                                                                                                  #  SUBROUTINES CALLED -
023065,000803:                                                                                                  #    FINDVAC        FLAGUP           ENDOFJOB        PRIOLARM
023066,000804:                                                                                                  #    NOVAC          INTPRET          LPS20.1         PHASCHNG
023067,000805:                                                                                                  #    WAITLIST       JOBSLEEP         JOBWAKE         FLAGDOWN
023068,000806:                                                                                                  #    TASKOVER       BANKCALL         RADSTALL        RRDESSM
023069,000807:                                                                                                  #  NORMAL EXIT MODES
023070,000808:                                                                                                  #    WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
023071,000809:                                                                                                  #  WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
023072,000810:                                                                                                  #  ALARM OR ABORT EXIT MODES-
023073,000811:                                                                                                  #    PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
023074,000812:                                                                                                  #  THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
023075,000813:                                                                                                  #  ACQUISITION
023076,000814:                                                                                                  #  OUTPUT
023077,000815:                                                                                                  #    SEE LPS20.1,RRDESSM
023078,000816:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
023079,000817:                                                                                                  #    RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
023080,000818:                                                                                                  #  FLAGS SET + RESET
023081,000819:                                                                                                  #    LOSCMFLG      LOKONSW
023082,000820:                                                                                                  #  DEBRIS
023083,000821:                                                                                                  #    SEE LPS20.1,RRDESSM
023084,000822: 24,2721  E7,1454                                  EBANK=   LOSCOUNT                              
023085,000823: 24,2721                                           COUNT*   $$/R21                                
023086,000824: 24,2721           32341        R21LEM             CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECS.) TO
023087,000825: 24,2722           55114                           TS       DESCOUNT                              #  DESIGNATE AND LOCKON
023088,000826: 24,2723           02714                           TC       LUNSFCHK                              
023089,000827: 24,2724           02731                           TC       R21LEM5                               
023090,000828: 24,2725           34755                           CAF      ZERO                                  #       COMMAND ANTENNA TO MODE CENTER
023091,000829: 24,2726           55107                           TS       TANG                                  #  IF NOT ON SURFACE-MODE 1-(T=0,S=0)
023092,000830: 24,2727           55110                           TS       TANG       +1                         
023093,000831: 24,2730           02735                           TC       R21LEM6                               
023094,000832: 24,2731           34735        R21LEM5            CAF      BIT15                                 #  IF ON LUNAR SURFACE-MODE 2-(T=180,S=-90)
023095,000833: 24,2732           55107                           TS       TANG                                  
023096,000834: 24,2733           44736                           CS       HALF                                  
023097,000835: 24,2734           55110                           TS       TANG       +1                         
023098,000836: 24,2735           05516        R21LEM6            TC       DOWNFLAG                              
023099,000837: 24,2736           00012                           ADRES    LOKONSW                               
023100,000838: 24,2737           04616                           TC       BANKCALL                              
023101,000839: 24,2740           52475                           CADR     RRDESNB                               
023102,000840: 24,2741           02742                           TC       +1                                    
023103,000841: 

Page 521

023105,000843: 24,2742           04616                           TC       BANKCALL                              
023106,000844: 24,2743           17667                           CADR     RADSTALL                              
023107,000845: 24,2744           02777                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE -ISSUE ALARM
023108,000846: 24,2745           05504        R21LEM10           TC       UPFLAG                                #  INDICATES LOS TO BE COMPUTED
023109,000847: 24,2746           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
023110,000848: 24,2747           44736                           CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
023111,000849: 24,2750           00006                           EXTEND                                         
023112,000850: 24,2751           03012                           WAND     CHAN12                                
023113,000851: 24,2752           36244        R21LEM2            CAF      THREE                                 
023114,000852: 24,2753           55454                           TS       LOSCOUNT                              
023115,000853: 24,2754           06036        R21LEM1            TC       INTPRET                               
023116,000854: 24,2755           43234                           RTB      DAD                                   
023117,000855: 24,2756           21462                                    LOADTIME                              
023118,000856: 24,2757           11026                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
023119,000857: 24,2760           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
023120,000858: 24,2761           51151                                    LPS20.1                               
023121,000859: 24,2762           77776                           EXIT                                           
023122,000860: 24,2763           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR-ON DESIRED
023123,000861: 24,2764           00012                           ADRES    LOKONSW                               
023124,000862: 24,2765           06036                           TC       INTPRET                               
023125,000863: 24,2766           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
023126,000864: 24,2767           52373                                    RRDESSM                               #  DESIGNATE ROUTINE
023127,000865: 24,2770           77776                           EXIT                                           
023128,000866: 24,2771           03016                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
023129,000867:                                                                                                  #  ON LUNAR SURFACE
023130,000868: 24,2772           02132                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
023131,000869: 24,2773           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
023132,000870: 24,2774           17667                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
023133,000871: 24,2775           02777                           TC       +2                                    #  BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
023134,000872: 24,2776           03006                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
023135,000873: 24,2777           33014        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
023136,000874: 24,3000           04616                           TC       BANKCALL                              
023137,000875: 24,3001           21451                           CADR     PRIOLARM                              
023138,000876: 24,3002           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
023139,000877: 24,3003           03011                           TC       R21SRCH                               #  PROC
023140,000878: 24,3004           02232                           TC       P20LEMC3                              
023141,000879: 24,3005           05155                           TC       ENDOFJOB                              
023142,000880: 24,3006           05516        R21END             TC       DOWNFLAG                              
023143,000881: 24,3007           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
023144,000882: 24,3010           02262                           TC       P20LEMWT                              #  EXIT R21 TO PERFORM DATA READ
023145,000883: 24,3011           05353        R21SRCH            TC       PHASCHNG                              
023146,000884: 24,3012           04022                           OCT      04022                                 
023147,000885: 24,3013           03100                           TC       R24LEM                                #  SEARCH ROUTINE
023148,000886: 24,3014           00503        ALRM503            OCT      00503                                 
023149,000887: 24,3015           00527        ALRM527            OCT      527                                   
023150,000888: 
023151,000889: 
023152,000890: 24,3016           33015        R21LEM4            CAF      ALRM527                               #  ALARM 527-LOS NOT IN MODE 2 COVERAGE
023153,000891: 24,3017           04616                           TC       BANKCALL                              #  ON LUNAR SURFACE
023154,000892: 24,3020           21451                           CADR     PRIOLARM                              
023155,000893: 

Page 522

023157,000895: 24,3021           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
023158,000896: 24,3022           02232                           TC       P20LEMC3                              
023159,000897: 24,3023           03016                           TC       -5                                    #  ENTER
023160,000898: 24,3024           05155                           TC       ENDOFJOB                              
023161,000899: 24,3025           00000 00062  HALFSEC            2DEC     50         B-28                       
023162,000900: 

Page 523

023164,000902:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
023165,000903:                                                                                                  #  PROGRAM DESCRIPTION
023166,000904:                                                                                                  #  MOD NO - 2
023167,000905:                                                                                                  #  BY P VOLANTE
023168,000906:                                                                                                  #  FUNCTIONAL DESCRIPTION
023169,000907: 
023170,000908:                                                                                                  #    TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
023171,000909:                                                                                                  #  CALLING SEQUENCE -
023172,000910:                                                                                                  #           TC     R23LEM
023173,000911:                                                                                                  #  SUBROUTINES CALLED
023174,000912:                                                                                                  #    BANKCALL        R61LEM
023175,000913:                                                                                                  #    SETMINDB        GOPERF1
023176,000914:                                                                                                  #  NORMAL EXIT MODES -
023177,000915:                                                                                                  #    IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
023178,000916:                                                                                                  #                               ,SELECTION OF PROC  WILL CONTINUE R23
023179,000917:                                                                                                  #                               ,SELECTION OF TERM  WILL TERMINATE R23 +P20
023180,000918:                                                                                                  #  ALARM OR ABORT EXIT MODES -
023181,000919:                                                                                                  #    SEE NORMAL EXIT MODES ABOVE
023182,000920:                                                                                                  #  OUTPUT
023183,000921:                                                                                                  #    N.A.
023184,000922:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
023185,000923:                                                                                                  #    ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
023186,000924: 24,3027     1143                                  EBANK=   GENRET                                
023187,000925: 24,3027                                           COUNT*   $$/R23                                
023188,000926: 24,3027           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
023189,000927: 24,3030           00126                           ADRES    NORRMON                               
023190,000928: 24,3031           00004                           INHINT                                         
023191,000929: 24,3032           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
023192,000930: 24,3033           40140                           CADR     SETMINDB                              
023193,000931: 24,3034           00003                           RELINT                                         
023194,000932: 24,3035           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
023195,000933: 24,3036           00006                           EXTEND                                         
023196,000934: 24,3037           05012                           WOR      CHAN12                                
023197,000935: 24,3040           33077                           CAF      OCT205                                
023198,000936: 24,3041           04616                           TC       BANKCALL                              
023199,000937: 24,3042           20476                           CADR     GOPERF1                               
023200,000938: 24,3043           03070                           TC       R23LEM2                               #  TERMINATE
023201,000939: 24,3044           03046                           TC       R23LEM11                              #  PROCEDE
023202,000940: 24,3045           03073                           TC       R23LEM3                               #  ENTER- DO ANOTHER MANUVER
023203,000941: 24,3046           00004        R23LEM11           INHINT                                         
023204,000942: 24,3047           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
023205,000943: 24,3050           00035                           ADRES    CDUT                                  
023206,000944: 24,3051           03060                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
023207,000945: 24,3052           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
023208,000946: 24,3053           40123                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
023209,000947: 24,3054           00003                           RELINT                                         
023210,000948: 24,3055           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
023211,000949: 24,3056           00126                           ADRES    NORRMON                               
023212,000950: 24,3057           02204                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
023213,000951: 24,3060           00003        OUTOFLIM           RELINT                                         
023214,000952: 

Page 524

023216,000954: 24,3061           33076                           CAF      OCT501PV                              
023217,000955: 24,3062           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
023218,000956: 24,3063           21451                           CADR     PRIOLARM                              #  LIMITS
023219,000957: 24,3064           03070                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
023220,000958: 24,3065           03061                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
023221,000959: 24,3066           03073                           TC       R23LEM3                               #  RECYCLE- DO ANOTHER MANUVER
023222,000960: 24,3067           05155                           TC       ENDOFJOB                              
023223,000961: 24,3070           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
023224,000962: 24,3071           00126                           ADRES    NORRMON                               
023225,000963: 24,3072           06022                           TC       GOTOV56                               #  AND EXIT VIA V56
023226,000964: 24,3073           04616        R23LEM3            TC       BANKCALL                              
023227,000965: 24,3074           46100                           CADR     R61LEM                                
023228,000966: 24,3075           03035                           TC       R23LEM1                               
023229,000967: 
023230,000968: 24,3076           00501        OCT501PV           OCT      501                                   
023231,000969: 24,3077           00205        OCT205             OCT      205                                   
023232,000970: 

Page 525

023234,000972:                                                                                                  #  SEARCH ROUTINE R24LEM
023235,000973:                                                                                                  #  PROGRAM DESCRIPTION
023236,000974:                                                                                                  #  MOD NO - 2
023237,000975:                                                                                                  #  BY  P. VOLANTE
023238,000976:                                                                                                  #  FUNCTIONAL DESCRIPTION
023239,000977: 
023240,000978:                                                                                                  #    TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
023241,000979:                                                                                                  #  FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
023242,000980:                                                                                                  #  THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
023243,000981:                                                                                                  #  CALLING SEQUENCE
023244,000982:                                                                                                  #           CAF    PRIONN
023245,000983:                                                                                                  #           TC     FINDVAC
023246,000984:                                                                                                  #           EBANK= DATAGOOD
023247,000985:                                                                                                  #           2CADR  R24LEM
023248,000986:                                                                                                  #  SUBROUTINES CALLED
023249,000987:                                                                                                  #    FLAGUP        FLAGDOWN      BANKCALL
023250,000988:                                                                                                  #    R61LEM        GOFLASHR      FINDVAC
023251,000989:                                                                                                  #    ENDOFJOB      NOVAC         LSR24.1
023252,000990:                                                                                                  #  NORMAL EXIT MODES-
023253,000991:                                                                                                  #    ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
023254,000992:                                                                                                  #  REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
023255,000993:                                                                                                  #  PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
023256,000994:                                                                                                  #  ALARM OR ABORT EXIT MODES-
023257,000995:                                                                                                  #    SEE NORMAL EXIT MODES ABOVE
023258,000996:                                                                                                  #  OUTPUT -
023259,000997:                                                                                                  #    SEE OUTPUT FROM LSR24.1 + R61LEM
023260,000998:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
023261,000999:                                                                                                  #    SEE INPUT FOR LSR24.1
023262,001000:                                                                                                  #  FLAGS SET + RESET
023263,001001:                                                                                                  #    SRCHOPT,ACMODFLG
023264,001002: 24,3100  E7,1731                                  EBANK=   DATAGOOD                              
023265,001003: 24,3100                                           COUNT*   $$/R24                                
023266,001004: 24,3100           05504        R24LEM             TC       UPFLAG                                
023267,001005: 24,3101           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
023268,001006: 24,3102           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
023269,001007: 24,3103           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
023270,001008: 24,3104           34755        R24LEM1            CAF      ZERO                                  
023271,001009: 24,3105           55731                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
023272,001010: 24,3106           55732                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
023273,001011: 24,3107           55733                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
023274,001012: 24,3110           05353        R24LEM2            TC       PHASCHNG                              
023275,001013: 24,3111           04022                           OCT      04022                                 
023276,001014: 24,3112           33150                           CAF      V16N80                                
023277,001015: 24,3113           04616                           TC       BANKCALL                              
023278,001016: 24,3114           20357                           CADR     PRIODSPR                              
023279,001017: 24,3115           06022                           TC       GOTOV56                               
023280,001018: 24,3116           03122                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
023281,001019: 
023282,001020: 
023283,001021: 24,3117           03127                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C
023284,001022: 

Page 526

023286,001024: 24,3120           04616                           TC       BANKCALL                              
023287,001025: 24,3121           55405                           CADR     LRS24.1                               
023288,001026: 24,3122           00004        R24END             INHINT                                         
023289,001027: 24,3123           06027                           TC       KILLTASK                              
023290,001028: 24,3124           55605                           CADR     CALLDGCH                              
023291,001029: 24,3125           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
023292,001030: 24,3126           12104                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
023293,001031: 
023294,001032:    6011                                           BLOCK    3                                     
023295,001033:    6000                                           SETLOC   FFTAG6                                
023296,001034:    6000                                           BANK                                           
023297,001035:    6011                                           COUNT*   $$/R24                                
023298,001036: 
023299,001037:    6011           46021        CLRADMOD           CS       BIT10+15                              
023300,001038:    6012           00004                           INHINT                                         
023301,001039:    6013           70110                           MASK     RADMODES                              
023302,001040:    6014           54110                           TS       RADMODES                              
023303,001041:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
023304,001042:    6016           00006                           EXTEND                                         
023305,001043:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
023306,001044: 
023307,001045:    6020           00002                           TC       Q                                     
023308,001046: 
023309,001047:    6021           41000        BIT10+15           OCT      41000                                 
023310,001048: 24,3127                                           BANK     24                                    
023311,001049: 24,2000                                           SETLOC   P20S                                  
023312,001050: 24,2000                                           BANK                                           
023313,001051: 24,3127                                           COUNT*   $$/R24                                
023314,001052: 
023315,001053: 24,3127           05353        R24LEM3            TC       PHASCHNG                              
023316,001054: 24,3130           04022                           OCT      04022                                 
023317,001055: 24,3131           00004                           INHINT                                         
023318,001056: 24,3132           06027                           TC       KILLTASK                              
023319,001057: 24,3133           55605                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
023320,001058: 24,3134           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES TO KILL
023321,001059: 24,3135           00003                           RELINT                                         #  HALF SECOND DESIGNATE LOOP
023322,001060: 24,3136           34774                           CAF      .5SEC                                 
023323,001061: 24,3137           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
023324,001062: 24,3140           01735                           CADR     DELAYJOB                              
023325,001063: 24,3141           02714                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
023326,001064: 24,3142           03110                           TC       R24LEM2                               #  YES-DONT DO ATTITUDE MANEUVER
023327,001065: 24,3143           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
023328,001066: 24,3144           46100                           CADR     R61LEM                                #  ATTITUDE MANEUVER
023329,001067: 24,3145           34755                           CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
023330,001068: 24,3146           55306                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
023331,001069:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
023332,001070: 24,3147           03110                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
023333,001071: 

Page 527

023335,001073: 24,3150           04120        V16N80             VN       01680                                 
023336,001074: 

Page 528

023338,001076:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
023339,001077:                                                                                                  #  PROGRAM DESCRIPTION
023340,001078:                                                                                                  #  MOD NO : 3                      DATE : 4-11-67
023341,001079:                                                                                                  #  MOD BY : P VOLANTE  SDC
023342,001080: 
023343,001081: 
023344,001082:                                                                                                  #  FUNCTIONAL DESCRIPTION-
023345,001083:                                                                                                  #    TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
023346,001084:                                                                                                  #  TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
023347,001085:                                                                                                  #  ATTITUDE.
023348,001086:                                                                                                  #  CALLING SEQUENCE-
023349,001087:                                                                                                  #           TC     BANKCALL
023350,001088:                                                                                                  #           CADR   R61LEM
023351,001089:                                                                                                  #  SUBROUTINES CALLED
023352,001090:                                                                                                  #      LPS20.1       VECPOINT
023353,001091:                                                                                                  #      KALCMAN3
023354,001092: 
023355,001093: 
023356,001094:                                                                                                  #  NORMAL EXIT MODES-
023357,001095:                                                                                                  #    NORMAL RETURN IS TO CALLER + 1
023358,001096:                                                                                                  #  ALARM OR ABORT EXIT MODES-
023359,001097:                                                                                                  #    TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
023360,001098:                                                                                                  #  RENDEZVOUS FLAG ARE NOT SET.
023361,001099:                                                                                                  #  OUTPUT -
023362,001100:                                                                                                  #    SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
023363,001101:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
023364,001102:                                                                                                  #    GENRET USED TO SAVE Q FOR RETURN
023365,001103:                                                                                                  #  FLAGS SET + RESET
023366,001104:                                                                                                  #    3AXISFLG
023367,001105:                                                                                                  #  DEBRIS
023368,001106:                                                                                                  #    SEE SUBROUTINES
023369,001107: 23,2000                                           SETLOC   R61                                   
023370,001108: 23,2000                                           BANK                                           
023371,001109: 23,2100  E7,1454                                  EBANK=   LOSCOUNT                              
023372,001110: 23,2100                                           COUNT*   $$/R61                                
023373,001111: 23,2100           04645        R61LEM             TC       MAKECADR                              
023374,001112: 23,2101           55143                           TS       GENRET                                
023375,001113: 23,2102           05504                           TC       UPFLAG                                #  SET R61 FLAG
023376,001114: 23,2103           00024                           ADRES    R61FLAG                               
023377,001115: 23,2104           02111                           TC       R61C+L01                              
023378,001116: 23,2105           04645        R65LEM             TC       MAKECADR                              
023379,001117: 23,2106           55143                           TS       GENRET                                
023380,001118: 23,2107           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
023381,001119: 23,2110           00024                           ADRES    R61FLAG                               
023382,001120: 23,2111           34747        R61C+L01           CAF      TRACKBIT                              #  TRACKFLAG
023383,001121: 23,2112           70075                           MASK     STATE      +1                         
023384,001122: 23,2113           00006                           EXTEND                                         
023385,001123: 23,2114           12262                           BZF      R61C+L1                               #  NOT SET
023386,001124: 23,2115           06036        R61C+L03           TC       INTPRET                               #  SET
023387,001125: 23,2116           77775                           VLOAD                                          
023388,001126: 

Page 529

023390,001128: 23,2117           06416                                    HIUNITZ                               
023391,001129: 23,2120           03761                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
023392,001130: 23,2121           77634                           RTB                                            
023393,001131: 23,2122           21462                                    LOADTIME                              #  PRESENT TIME
023394,001132: 23,2123           77615                           DAD                                            #  EXTRAPULATE FORWARD FORWARD TO CENTER OF
023395,001133: 23,2124           15654                                    3SECONDS                              #  SIX SECOND PERIOD.
023396,001134: 23,2125           34041                           STCALL   TDEC1                                 
023397,001135: 23,2126           51151                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
023398,001136: 23,2127           77775                           VLOAD                                          
023399,001137: 23,2130           01102                                    RRTARGET                              
023400,001138: 23,2131           03767                           STORE    POINTVSM                              #  DIRECTION IN WHICH TRACK AXIS IS TO BE
023401,001139: 23,2132           77624                           CALL                                           
023402,001140: 23,2133           56016                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
023403,001141: 23,2134           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI,CTHETA,CPSI
023404,001142: 23,2135           77776                           EXIT                                           
023405,001143: 23,2136           05353                           TC       PHASCHNG                              
023406,001144: 23,2137           04022                           OCT      04022                                 
023407,001145: 23,2140           34747                           CAF      TRACKBIT                              #   IS TRACK FLAG SET
023408,001146: 23,2141           70075                           MASK     FLAGWRD1                              
023409,001147: 23,2142           00006                           EXTEND                                         
023410,001148: 23,2143           12262                           BZF      R61C+L1                               #  BRANCH - NO SKIP THIS CYCLE OF R61/65
023411,001149: 23,2144           00006                           EXTEND                                         
023412,001150: 23,2145           00030                           READ     CHAN30                                #  CHECK AUTO MODE
023413,001151: 23,2146           74742                           MASK     BIT10                                 
023414,001152: 23,2147           10000                           CCS      A                                     
023415,001153: 23,2150           02255                           TC       R61C+L04                              #  NOT IN G+N  C(A) = +
023416,001154: 23,2151           00006                           EXTEND                                         
023417,001155: 23,2152           00031                           READ     CHAN31                                
023418,001156: 23,2153           74736                           MASK     BIT14                                 #  (+) = NOT IN AUTO, (+0) =AOK
023419,001157: 23,2154           10000                           CCS      A                                     
023420,001158: 23,2155           02255                           TC       R61C+L04                              #  NOT IN AUTO MODE
023421,001159: 23,2156           06036                           TC       INTPRET                               
023422,001160: 23,2157           45175                           VLOAD    CALL                                  
023423,001161: 23,2160           01102                                    RRTARGET                              
023424,001162: 23,2161           47552                                    CDU*SMNB                              
023425,001163: 23,2162           65545                           DLOAD    ACOS                                  
023426,001164: 23,2163           00162                                    MPAC       +5                         
023427,001165: 23,2164           14025                           STODL    PHI                                   
023428,001166: 23,2165           06271                                    TENDEG                                
023429,001167: 23,2166           51021                           BDSU     BPL                                   
023430,001168: 23,2167           00025                                    PHI                                   
023431,001169: 23,2170           46206                                    R61C+L05                              #  PHI GRE 10DEG
023432,001170: 23,2171  E6,1633                                  EBANK=   CDUXD                                 
023433,001171: 23,2171           77776                           EXIT                                           
023434,001172: 23,2172           32273                           CAF      CDUBANK                               
023435,001173: 23,2173           54006                           TS       BBANK                                 
023436,001174: 23,2174           00004                           INHINT                                         
023437,001175: 23,2175           00006                           EXTEND                                         
023438,001176: 23,2176           30322                           DCA      CPHI                                  
023439,001177: 23,2177           53634                           DXCH     CDUXD                                 
023440,001178: 

Page 530

023442,001180: 23,2200           30323                           CA       CPSI                                  
023443,001181: 23,2201           55635                           TS       CDUZD                                 
023444,001182: 23,2202           00003                           RELINT                                         
023445,001183: 23,2203  E7,1454                                  EBANK=   LOSCOUNT                              
023446,001184: 23,2203           32274                           CAF      R61BANK                               
023447,001185: 23,2204           54006                           TS       BBANK                                 
023448,001186: 23,2205           02231                           TC       R61C+L06                              
023449,001187: 23,2206           77776        R61C+L05           EXIT                                           
023450,001188: 23,2207           00004                           INHINT                                         
023451,001189: 23,2210           04674                           TC       IBNKCALL                              
023452,001190: 23,2211           40153                           FCADR    ZATTEROR                              
023453,001191: 23,2212           04674                           TC       IBNKCALL                              
023454,001192: 23,2213           40140                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
023455,001193: 23,2214           05516                           TC       DOWNFLAG                              
023456,001194: 23,2215           00124                           ADRES    3AXISFLG                              
023457,001195: 23,2216           05504                           TC       UPFLAG                                
023458,001196: 23,2217           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
023459,001197: 23,2220           04616                           TC       BANKCALL                              
023460,001198: 23,2221           54101                           CADR     R60LEM                                
023461,001199: 23,2222           00004                           INHINT                                         
023462,001200: 23,2223           04674                           TC       IBNKCALL                              
023463,001201: 23,2224           40123                           FCADR    RESTORDB                              
023464,001202: 23,2225           05353                           TC       PHASCHNG                              
023465,001203: 23,2226           04022                           OCT      04022                                 
023466,001204: 23,2227           05516                           TC       DOWNFLAG                              
023467,001205: 23,2230           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
023468,001206: 23,2231           34742        R61C+L06           CAF      R61FLBIT                              
023469,001207: 23,2232           70075                           MASK     STATE      +1                         
023470,001208: 23,2233           00006                           EXTEND                                         
023471,001209: 23,2234           12236                           BZF      +2                                    
023472,001210: 23,2235           02260                           TC       R61C+L4                               
023473,001211: 23,2236           31743                           CA       R65CNTR                               
023474,001212: 23,2237           10000                           CCS      A                                     
023475,001213: 23,2240           02242                           TC       +2                                    
023476,001214: 23,2241           02260                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
023477,001215: 23,2242           55743                           TS       R65CNTR                               
023478,001216: 23,2243           32272                           CAF      06SEC                                 
023479,001217: 23,2244           00004                           INHINT                                         
023480,001218: 23,2245           05173                           TC       TWIDDLE                               
023481,001219: 23,2246           02250                           ADRES    R61C+L2                               
023482,001220: 23,2247           05155                           TC       ENDOFJOB                              
023483,001221: 23,2250           37713        R61C+L2            CAF      PRIO26                                
023484,001222: 23,2251           05105                           TC       FINDVAC                               
023485,001223: 23,2252  E7,1454                                  EBANK=   LOSCOUNT                              
023486,001224: 23,2252           02111 46067                     2CADR    R61C+L01                              
023487,001225: 23,2254           05261                           TC       TASKOVER                              
023488,001226: 23,2255           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
023489,001227: 23,2256           54244                           CADR     BALLANGS                              
023490,001228: 23,2257           02231                           TC       R61C+L06                              
023491,001229: 

Page 531

023493,001231: 23,2260           31143        R61C+L4            CAE      GENRET                                
023494,001232: 23,2261           14640                           TCF      BANKJUMP                              #  EXIT R61
023495,001233: 23,2262           32267        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
023496,001234: 23,2263           70074                           MASK     STATE                                 
023497,001235: 23,2264           00006                           EXTEND                                         
023498,001236: 23,2265           15155                           BZF      ENDOFJOB                              #  NO-EXIT ROUTINE AND PROGRAM.
023499,001237: 23,2266           02231                           TC       R61C+L06                              #  YES EXIT ROUTINE
023500,001238: 23,2267           00500        BIT7+9PV           OCT      00500                                 
023501,001239: 23,2270           00707 03432  TENDEG             2DEC     .02777777                             #  SCALED UNITS OF REVOLUTION B0
023502,001240: 23,2272           01130        06SEC              DEC      600        B-14                       
023503,001241: 23,2273                        PHI                EQUALS   20D                                   
023504,001242: 23,2273  E6,1633                                  EBANK=   CDUXD                                 
023505,001243: 23,2273           46066        CDUBANK            BBCON    R61C+L05                              
023506,001244: 23,2274  E7,1454                                  EBANK=   LOSCOUNT                              
023507,001245: 23,2274           46067        R61BANK            BBCON    R61C+L05                              
023508,001246:    4512                                           BLOCK    02                                    
023509,001247:    4000                                           SETLOC   RADARFF                               
023510,001248:    4000                                           BANK                                           
023511,001249: 
023512,001250:    4512  E7,1454                                  EBANK=   LOSCOUNT                              
023513,001251:    4512                                           COUNT*   $$/RRSUB                              
023514,001252: 

Page 532

023516,001254:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023517,001255:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023518,001256: 
023519,001257:    4512           00006        MAGSUB             EXTEND                                         
023520,001258:    4513           64515                           BZMF     +2                                    
023521,001259:    4514           14516                           TCF      +2                                    
023522,001260:    4515           40000                           COM                                            
023523,001261: 
023524,001262:    4516           50002                           INDEX    Q                                     
023525,001263:    4517           60000                           AD       0                                     
023526,001264:    4520           00006                           EXTEND                                         
023527,001265:    4521           66740                           BZMF     Q+2                                   #  ABS(A) <= CONST GO TO L+3
023528,001266:    4522           16736                           TCF      Q+1                                   #  ABS(A) >  CONST GO TO L+2
023529,001267: 

Page 533

023531,001269:                                                                                                  #  PROGRAM NAME_  RRLIMCHK                                                  ARE IN THE LIMITS OF THE CURRENT MODE.
023532,001270: 
023533,001271:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023534,001272:                                                                                                  #  RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023535,001273:                                                                                                  #  THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023536,001274:                                                                                                  #  SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023537,001275:                                                                                                  #  ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023538,001276:                                                                                                  #  MODE 1 AND =1 FOR MODE 2.
023539,001277:                                                                                                  #  MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023540,001278:                                                                                                  #  BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023541,001279:                                                                                                  #  THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023542,001280:                                                                                                  #  IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023543,001281:                                                                                                  #  MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023544,001282:                                                                                                  #  BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023545,001283:                                                                                                  #  LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023546,001284:                                                                                                  #  AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023547,001285:                                                                                                  #  TO L +3.
023548,001286: 
023549,001287:                                                                                                  #  CALLING SEQUENCE:
023550,001288:                                                                                                  #  L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
023551,001289:                                                                                                  #  L +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
023552,001290: 
023553,001291:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023554,001292:                                                                                                  #  RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023555,001293:                                                                                                  #  ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023556,001294:                                                                                                  #  CURRENT EBANK).
023557,001295: 
023558,001296:                                                                                                  #  SUBROUTINES CALLED_  MAGSUB
023559,001297: 
023560,001298:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
023561,001299: 
023562,001300:                                                                                                  #  ALARMS_  NONE
023563,001301: 
023564,001302:                                                                                                  #  EXIT_  L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023565,001303:                                                                                                  #  L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023566,001304: 
023567,001305:    4523           00006        RRLIMCHK           EXTEND                                         
023568,001306:    4524           50002                           INDEX    Q                                     
023569,001307:    4525           50000                           INDEX    0                                     
023570,001308:    4526           30001                           DCA      0                                     
023571,001309:    4527           24002                           INCR     Q                                     
023572,001310:    4530           52062                           DXCH     ITEMP1                                
023573,001311:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
023574,001312: 
023575,001313:    4532           34740                           CAF      BIT12                                 #  SEE WHICH MODE RR IS IN.
023576,001314:    4533           70110                           MASK     RADMODES                              
023577,001315:    4534           10000                           CCS      A                                     
023578,001316:    4535           14550                           TCF      MODE2CHK                              
023579,001317: 
023580,001318:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS
023581,001319: 

Page 534

023583,001321:    4537           04512                           TC       MAGSUB                                #      1. ABS(T) L 55 DEGS.
023584,001322:    4540           66161                           DEC      -.30555                               #      2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023585,001323:    4541           00001                           TC       L                                     #          (SHAFT LIMITS AT +59, -70 DEGS)
023586,001324: 
023587,001325:    4542           34562                           CAF      5.5DEGS                               
023588,001326:    4543           60062                           AD       ITEMP2                                #  S
023589,001327:    4544           04512                           TC       MAGSUB                                
023590,001328:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
023591,001329:    4546           00001                           TC       L                                     
023592,001330:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
023593,001331: 
023594,001332:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
023595,001333:    4551           60062                           AD       ITEMP2                                #      1. ABS(T) G 125 DEGS.
023596,001334:    4552           04512                           TC       MAGSUB                                #      2. ABS(S + 82 DEGS) L 57 DEGS
023597,001335:    4553           65673                           DEC      -.31667                               #          (SHAFT LIMITS AT -25, -139 DEGS)
023598,001336:    4554           00001                           TC       L                                     
023599,001337: 
023600,001338:    4555           30061                           CA       ITEMP1                                
023601,001339:    4556           04512                           TC       MAGSUB                                
023602,001340:    4557           51615                           DEC      -.69444                               #  125 DEGS
023603,001341: 
023604,001342:    4560           50001        RRLIMOK            INDEX    L                                     
023605,001343:    4561           00001                           TC       L                                     #  ( = TC 1 )
023606,001344: 
023607,001345:    4562           00765        5.5DEGS            DEC      .03056                                
023608,001346:    4563           16450        82DEGS             DEC      .45556                                
023609,001347: 

Page 535

023611,001349:                                                                                                  #  PROGRAM NAME_  SETTRKF                                                  . IF EITHER:
023612,001350: 
023613,001351:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023614,001352:                                                                                                  #  SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.                      HER THE ALT OR VEL INFORMATION.
023615,001353:                                                                                                  #  INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023616,001354:                                                                                                  #  IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023617,001355:                                                                                                  #  IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023618,001356:                                                                                                  #  1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023619,001357:                                                                                                  #  AUTO MODE (RADMODES BITS 13, 7, 2).
023620,001358:                                                                                                  #  2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023621,001359:                                                                                                  #  8,5)
023622,001360:                                                                                                  #  3) NO RR DATA (RADMODES BIT 4)
023623,001361:                                                                                                  #  THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023624,001362:                                                                                                  #  IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023625,001363:                                                                                                  #  LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023626,001364:                                                                                                  #  THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023627,001365:                                                                                                  #  TRACKER FAIL LAMP IS TURNED ON IF_
023628,001366:                                                                                                  #  A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023629,001367:                                                                                                  #  B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023630,001368:                                                                                                  #  EITHER THE ALT OR VEL INFORMATION
023631,001369:                                                                                                  #  C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023632,001370:                                                                                                  #  WITH EITHER THE AL
023633,001371: 
023634,001372:                                                                                                  #  CALLING SEQUENCE:
023635,001373:                                                                                                  #  L  TC  SETTRKF
023636,001374: 
023637,001375:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023638,001376:                                                                                                  #  SUBROUTINES CALLED_  NONE
023639,001377: 
023640,001378:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
023641,001379: 
023642,001380:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
023643,001381: 
023644,001382:                                                                                                  #  EXIT_  L +1 (ALWAYS)                                                    ED.
023645,001383: 
023646,001384:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
023647,001385:    4565           71303                           MASK     IMODES33                              
023648,001386:    4566           10000                           CCS      A                                     
023649,001387:    4567           00002                           TC       Q                                     
023650,001388: 
023651,001389:    4570           34744        RRTRKF             CA       BIT8                                  
023652,001390:    4571           54001                           TS       L                                     
023653,001391: 
023654,001392:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
023655,001393:    4573           70110                           MASK     RADMODES                              
023656,001394:    4574           00006                           EXTEND                                         
023657,001395:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
023658,001396: 
023659,001397:    4576           34750        RRCHECK            CAF      BIT4                                  #  SEE IF RR DATA FAILED.
023660,001398:    4577           70110                           MASK     RADMODES                              
023661,001399: 

Page 536

023663,001401:    4600           10000                           CCS      A                                     
023664,001402:    4601           30001        TRKFLON            CA       L                                     
023665,001403:    4602           61036                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
023666,001404:    4603           70001                           MASK     L                                     
023667,001405:    4604           00006                           EXTEND                                         
023668,001406:    4605           16741                           BZF      TCQ                                   #  NO CHANGE.
023669,001407: 
023670,001408:    4606           31036        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
023671,001409:    4607           00006                           EXTEND                                         
023672,001410:    4610           06001                           RXOR     LCHAN                                 
023673,001411:    4611           74733                           MASK     POSMAX                                
023674,001412:    4612           64735                           AD       BIT15                                 
023675,001413:    4613           55036                           TS       DSPTAB     +11D                       
023676,001414:    4614           00002                           TC       Q                                     
023677,001415: 
023678,001416:    4615           10102        13,7,2             OCT      10102                                 
023679,001417:    4616                        ENDRMODF           EQUALS                                         
023680,001418: 

Page 537

023682,001420:                                                                                                  #  PROGRAM NAME_  RRTURNON
023683,001421: 
023684,001422:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023685,001423: 
023686,001424:                                                                                                  #  RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023687,001425:                                                                                                  #  RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023688,001426:                                                                                                  #  INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023689,001427:                                                                                                  #  ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023690,001428:                                                                                                  #  WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023691,001429:                                                                                                  #  (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023692,001430:                                                                                                  #  INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023693,001431:                                                                                                  #  TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023694,001432:                                                                                                  #  SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023695,001433:                                                                                                  #  FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023696,001434:                                                                                                  #  RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023697,001435:                                                                                                  #  TO TASKOVER.
023698,001436: 
023699,001437:                                                                                                  #  CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023700,001438:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023701,001439:                                                                                                  #  THE RR (STATE BIT 7).
023702,001440: 
023703,001441:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023704,001442:                                                                                                  #  RADMODES, STATE
023705,001443: 
023706,001444:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023707,001445: 
023708,001446:                                                                                                  #  JOBS OR TASKS INITIATED_
023709,001447:                                                                                                  #  NONE
023710,001448: 
023711,001449:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
023712,001450: 
023713,001451:                                                                                                  #  EXIT_  TASKOVER, ENDRADAR (WAITING PROGRAM)
023714,001452: 
023715,001453: 24,3151                                           BANK     24                                    
023716,001454: 25,2000                                           SETLOC   P20S1                                 
023717,001455: 25,2000                                           BANK                                           
023718,001456: 
023719,001457: 25,2062  E7,1454                                  EBANK=   LOSCOUNT                              
023720,001458: 25,2062                                           COUNT*   $$/RSUB                               
023721,001459: 25,2062           02071        RRTURNON           TC       RRZEROSB                              
023722,001460: 25,2063           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023723,001461: 25,2064           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
023724,001462: 25,2065           44753                           CS       BIT1                                  
023725,001463: 25,2066           70110                           MASK     RADMODES                              
023726,001464: 25,2067           54110                           TS       RADMODES                              
023727,001465: 25,2070           15261                           TCF      TASKOVER                              
023728,001466: 

Page 538

023730,001468:                                                                                                  #  PROGRAM NAME_  RRZEROSB
023731,001469: 
023732,001470:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023733,001471:                                                                                                  #  RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023734,001472:                                                                                                  #  DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023735,001473:                                                                                                  #  LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023736,001474:                                                                                                  #  BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023737,001475:                                                                                                  #  RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023738,001476:                                                                                                  #  WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023739,001477:                                                                                                  #  REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023740,001478:                                                                                                  #  TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023741,001479:                                                                                                  #  RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023742,001480:                                                                                                  #  CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023743,001481:                                                                                                  #  ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023744,001482:                                                                                                  #  RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023745,001483:                                                                                                  #  IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023746,001484:                                                                                                  #  INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023747,001485:                                                                                                  #  SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023748,001486: 
023749,001487:                                                                                                  #  CALLING SEQUENCE: L  TC  RRZEROSB (FROM RRTURNON AND RRZERO)
023750,001488:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023751,001489:                                                                                                  #  RADMODES (BIT 13 SET), DSPTAB +11D
023752,001490: 
023753,001491:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
023754,001492: 
023755,001493:                                                                                                  #  JOBS OR TASKS INITIATED_
023756,001494:                                                                                                  #  NONE
023757,001495: 
023758,001496:                                                                                                  #  ALARMS_  TRACKER FAIL
023759,001497: 
023760,001498:                                                                                                  #  EXIT_  L +1 (ALWAYS)
023761,001499: 
023762,001500: 25,2071           00006        RRZEROSB           EXTEND                                         
023763,001501: 25,2072           23315                           QXCH     RRRET                                 
023764,001502: 25,2073           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
023765,001503: 25,2074           00006                           EXTEND                                         #  COMING HERE.
023766,001504: 25,2075           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
023767,001505: 25,2076           05221                           TC       FIXDELAY                              
023768,001506: 25,2077           00002                           DEC      2          B-14                       
023769,001507: 
023770,001508: 25,2100           34755                           CAF      ZERO                                  
023771,001509: 25,2101           54035                           TS       CDUT                                  
023772,001510: 25,2102           54036                           TS       CDUS                                  
023773,001511: 25,2103           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
023774,001512: 25,2104           00006                           EXTEND                                         
023775,001513: 25,2105           03012                           WAND     CHAN12                                
023776,001514: 25,2106           05221                           TC       FIXDELAY                              
023777,001515: 25,2107           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
023778,001516: 
023779,001517: 25,2110           44737                           CS       BIT13                                 #  REMOVE ZEROING IN PROCESS BIT.
023780,001518: 

Page 539

023782,001520: 25,2111           70110                           MASK     RADMODES                              
023783,001521: 25,2112           54110                           TS       RADMODES                              
023784,001522: 
023785,001523: 25,2113           30035                           CA       CDUT                                  
023786,001524: 25,2114           04512                           TC       MAGSUB                                
023787,001525: 25,2115           57777                           DEC      -.5                                   
023788,001526: 25,2116           12121                           TCF      +3                                    #  IF MODE 2.
023789,001527: 
023790,001528: 25,2117           34755                           CAF      ZERO                                  
023791,001529: 25,2120           12122                           TCF      +2                                    
023792,001530: 25,2121           34740                           CAF      ANTENBIT                              
023793,001531: 25,2122           56110                           XCH      RADMODES                              
023794,001532: 25,2123           77740                           MASK     -BIT12                                
023795,001533: 25,2124           26110                           ADS      RADMODES                              
023796,001534: 
023797,001535: 25,2125           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
023798,001536: 
023799,001537: 25,2126           01315                           TC       RRRET                                 #  DONE.
023800,001538: 
023801,001539: 25,2127     7740               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
023802,001540: 

Page 540

023804,001542:                                                                                                  #  PROGRAM NAME_  DORREPOS
023805,001543:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023806,001544:                                                                                                  #  DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023807,001545:                                                                                                  #  TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023808,001546:                                                                                                  #  ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023809,001547:                                                                                                  #  AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023810,001548:                                                                                                  #  DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023811,001549:                                                                                                  #  TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023812,001550:                                                                                                  #  PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023813,001551:                                                                                                  #  CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023814,001552:                                                                                                  #  RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023815,001553:                                                                                                  #  TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023816,001554:                                                                                                  #  DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023817,001555:                                                                                                  #  MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023818,001556:                                                                                                  #  CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023819,001557:                                                                                                  #  -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023820,001558:                                                                                                  #  REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023821,001559:                                                                                                  #  FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023822,001560:                                                                                                  #  REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023823,001561:                                                                                                  #  REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023824,001562:                                                                                                  #  BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023825,001563:                                                                                                  #  INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023826,001564:                                                                                                  #  COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023827,001565:                                                                                                  #  TASKOVER.
023828,001566: 
023829,001567:                                                                                                  #  CALLING SEQUENCE:
023830,001568:                                                                                                  #  WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023831,001569:                                                                                                  #  NOT WITHIN LIMITS OF CURRENT MODE.
023832,001570: 
023833,001571:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023834,001572:                                                                                                  #  RADMODES
023835,001573: 
023836,001574:                                                                                                  #  SUBROUTINES CALLED_
023837,001575:                                                                                                  #  RRTONLY, RRSONLY, BEGDES (EXIT)
023838,001576: 
023839,001577:                                                                                                  #  JOBS OR TASKS INITIATED_
023840,001578:                                                                                                  #  NONE
023841,001579: 
023842,001580:                                                                                                  #  ALARMS-  NONE
023843,001581: 
023844,001582:                                                                                                  #  EXIT_  TASKOVER, BEGDES
023845,001583: 
023846,001584: 25,2127           02156        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
023847,001585: 
023848,001586:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023849,001587: 
023850,001588: 25,2130           05221                           TC       FIXDELAY                              
023851,001589: 25,2131           00002                           DEC      2          B-14                       
023852,001590: 
023853,001591: 25,2132           34740                           CAF      BIT12                                 #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.
023854,001592: 

Page 541

023856,001594: 25,2133           70110                           MASK     RADMODES                              
023857,001595: 25,2134           10000                           CCS      A                                     
023858,001596: 25,2135           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
023859,001597: 25,2136           02241                           TC       RRTONLY                               
023860,001598: 
023861,001599: 25,2137           34740                           CAF      BIT12                                 #  NOW PUT SHAFT IN RIGHT POSITION.
023862,001600: 25,2140           70110                           MASK     RADMODES                              
023863,001601: 25,2141           10000                           CCS      A                                     
023864,001602: 25,2142           44736                           CS       HALF                                  #  -90 FOR MODE 2.
023865,001603: 25,2143           02244                           TC       RRSONLY                               
023866,001604: 
023867,001605: 25,2144           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
023868,001606:                                                                                                  #  REQUESTED DURING REPOSITION.
023869,001607: 25,2145           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
023870,001608: 25,2146           54110                           TS       RADMODES                              
023871,001609: 25,2147           74742                           MASK     BIT10                                 #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
023872,001610: 25,2150           10000                           CCS      A                                     
023873,001611: 25,2151           12573                           TCF      BEGDES                                
023874,001612: 25,2152           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
023875,001613: 25,2153           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
023876,001614: 25,2154           03012                           WAND     CHAN12                                
023877,001615: 25,2155           15261                           TCF      TASKOVER                              
023878,001616: 
023879,001617: 25,2156           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
023880,001618: 25,2157           00006                           EXTEND                                         
023881,001619: 25,2160           02012                           RAND     CHAN12                                
023882,001620: 25,2161           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
023883,001621: 25,2162           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
023884,001622: 
023885,001623: 25,2163           54112                           TS       LASTYCMD                              
023886,001624: 25,2164           54113                           TS       LASTXCMD                              
023887,001625: 25,2165           34752                           CAF      BIT2                                  
023888,001626: 25,2166           00006                           EXTEND                                         
023889,001627: 25,2167           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
023890,001628: 25,2170           00002                           TC       Q                                     
023891,001629: 

Page 542

023893,001631:                                                                                                  #  PROGRAM NAME_  REMODE                                                   IVES SHAFT TO -45, AND FINALLY DRIVES
023894,001632: 
023895,001633:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                 S DONE WITH SINGLE AXIS ROTATIONS (SEE
023896,001634:                                                                                                  #  REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023897,001635:                                                                                                  #  TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023898,001636:                                                                                                  #  180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023899,001637:                                                                                                  #  DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023900,001638:                                                                                                  #  TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023901,001639:                                                                                                  #  INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023902,001640:                                                                                                  #  AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023903,001641:                                                                                                  #  (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023904,001642:                                                                                                  #  RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023905,001643:                                                                                                  #  OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023906,001644:                                                                                                  #  THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023907,001645:                                                                                                  #  (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023908,001646:                                                                                                  #  TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023909,001647:                                                                                                  #  DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023910,001648:                                                                                                  #  -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023911,001649:                                                                                                  #  IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023912,001650:                                                                                                  #  RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023913,001651:                                                                                                  #  IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023914,001652:                                                                                                  #  THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023915,001653: 
023916,001654:                                                                                                  #  CALLING SEQUENCE:
023917,001655:                                                                                                  #  FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023918,001656:                                                                                                  #  THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023919,001657:                                                                                                  #  DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023920,001658:                                                                                                  #  OTHER MODE.
023921,001659: 
023922,001660:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023923,001661:                                                                                                  #  RADMODES
023924,001662: 
023925,001663:                                                                                                  #  SUBROUTINES CALLED_
023926,001664:                                                                                                  #  RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023927,001665: 
023928,001666:                                                                                                  #  JOBS OR TASKS INITIATED_
023929,001667:                                                                                                  #  NONE
023930,001668: 
023931,001669:                                                                                                  #  ALARMS_  NONE
023932,001670: 
023933,001671:                                                                                                  #  EXIT_  STDESIG
023934,001672: 
023935,001673: 25,2171           34740        REMODE             CAF      BIT12                                 #  DRIVE TRUNNION TO 0 (180).
023936,001674: 25,2172           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
023937,001675: 25,2173           10000                           CCS      A                                     
023938,001676: 25,2174           34735                           CAF      BIT15                                 
023939,001677: 25,2175           02241                           TC       RRTONLY                               
023940,001678: 
023941,001679: 25,2176           37737                           CAF      -45DEGSR                              
023942,001680: 25,2177           02244                           TC       RRSONLY                               
023943,001681: 

Page 543

023945,001683: 25,2200           40110                           CS       RADMODES                              
023946,001684: 25,2201           74740                           MASK     BIT12                                 
023947,001685: 25,2202           10000                           CCS      A                                     
023948,001686: 25,2203           32232                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
023949,001687: 25,2204           62231                           AD       -50DEGSR                              
023950,001688: 25,2205           02241                           TC       RRTONLY                               
023951,001689: 
023952,001690: 25,2206           40110                           CS       RADMODES                              
023953,001691: 25,2207           74740                           MASK     BIT12                                 
023954,001692: 25,2210           10000                           CCS      A                                     
023955,001693: 25,2211           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
023956,001694: 25,2212           02241                           TC       RRTONLY                               
023957,001695: 
023958,001696: 25,2213           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
023959,001697: 25,2214           74740                           MASK     BIT12                                 
023960,001698: 25,2215           10000                           CCS      A                                     
023961,001699: 25,2216           44736                           CS       HALF                                  
023962,001700: 25,2217           02244                           TC       RRSONLY                               
023963,001701: 
023964,001702: 25,2220           02233                           TC       RMODINV                               
023965,001703: 
023966,001704: 25,2221           44736                           CS       BIT14                                 #  END OF REMODE.
023967,001705: 25,2222           70110                           MASK     RADMODES                              
023968,001706: 25,2223           54110                           TS       RADMODES                              
023969,001707: 
023970,001708: 25,2224           34742                           CAF      BIT10                                 #  WAS REMODE CALLED DURING DESIGNATE
023971,001709: 25,2225           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
023972,001710: 25,2226           00006                           EXTEND                                         
023973,001711: 25,2227           13555                           BZF      RGOODEND                              #  NO-RETURN TO CALLER WAITING IN RADSTALL
023974,001712: 25,2230           02602                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
023975,001713: 25,2231     7737               -45DEGSR           =        13,14,15                              
023976,001714: 25,2231           67070        -50DEGSR           DEC      -.27778                               
023977,001715: 25,2232           61615        -80DEGSR           DEC      -.44444                               
023978,001716: 
023979,001717: 25,2233           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
023980,001718: 25,2234           34740                           CAF      BIT12                                 
023981,001719: 25,2235           00006                           EXTEND                                         
023982,001720: 25,2236           06001                           RXOR     LCHAN                                 
023983,001721: 25,2237           54110                           TS       RADMODES                              
023984,001722: 25,2240           00002                           TC       Q                                     
023985,001723: 

Page 544

023987,001725:                                                                                                  #  PROGRAM NAMES_  RRTONLY, RRSONLY
023988,001726: 
023989,001727:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023990,001728:                                                                                                  #  RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023991,001729:                                                                                                  #  RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023992,001730:                                                                                                  #  WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023993,001731:                                                                                                  #  FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023994,001732:                                                                                                  #  THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023995,001733:                                                                                                  #  THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023996,001734:                                                                                                  #  WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023997,001735:                                                                                                  #  REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023998,001736:                                                                                                  #  OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023999,001737:                                                                                                  #  IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
024000,001738:                                                                                                  #  CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
024001,001739:                                                                                                  #  TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
024002,001740:                                                                                                  #  ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
024003,001741:                                                                                                  #  REPEATED.
024004,001742: 
024005,001743:                                                                                                  #  CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
024006,001744:                                                                                                  #  L  TC  RRTONLY (TRUNNION ONLY)
024007,001745:                                                                                                  #  RRSONLY (SHAFT ONLY)
024008,001746:                                                                                                  #  RRTONLY IS CALLED BY PREPOS29;
024009,001747:                                                                                                  #  RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
024010,001748: 
024011,001749:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024012,001750:                                                                                                  #  C(A) = DESIRED ANGLE, RADMODES
024013,001751: 
024014,001752:                                                                                                  #  SUBROUTINES CALLED_
024015,001753:                                                                                                  #  FIXDELAY, REPOSRPT, MAGSUB, RROUT
024016,001754: 
024017,001755:                                                                                                  #  JOBS OR TASKS INITIATED_
024018,001756:                                                                                                  #  NONE
024019,001757: 
024020,001758:                                                                                                  #  ALARMS_  NONE
024021,001759: 
024022,001760:                                                                                                  #  EXIT_  REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
024023,001761:                                                                                                  #  BITS 14, 11)
024024,001762:                                                                                                  #  L+1  (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
024025,001763: 
024026,001764: 25,2241           55316        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
024027,001765: 25,2242           34755                           CAF      ZERO                                  
024028,001766: 25,2243           12246                           TCF      RR1AXIS                               
024029,001767: 
024030,001768: 25,2244           55316        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
024031,001769: 25,2245           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
024032,001770: 
024033,001771: 25,2246           55317        RR1AXIS            TS       RRINDEX                               
024034,001772: 25,2247           00006                           EXTEND                                         
024035,001773: 25,2250           23315                           QXCH     RRRET                                 
024036,001774: 25,2251           12254                           TCF      RR1AX2                                
024037,001775: 

Page 545

024039,001777: 25,2252           05221        NXTRR1AX           TC       FIXDELAY                              
024040,001778: 25,2253           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
024041,001779: 
024042,001780: 25,2254           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
024043,001781: 25,2255           77707                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
024044,001782: 25,2256           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
024045,001783: 25,2257           12144                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
024046,001784: 
024047,001785: 25,2260           31316                           CA       RDES                                  
024048,001786: 25,2261           00006                           EXTEND                                         
024049,001787: 25,2262           51317                           INDEX    RRINDEX                               
024050,001788: 25,2263           20035                           MSU      CDUT                                  
024051,001789: 25,2264           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
024052,001790: 25,2265           00006                           EXTEND                                         
024053,001791: 25,2266           72305                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
024054,001792: 25,2267           54001                           TS       L                                     
024055,001793: 25,2270           30110                           CA       RADMODES                              
024056,001794: 25,2271           74752                           MASK     AUTOMBIT                              
024057,001795: 25,2272           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
024058,001796: 25,2273           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
024059,001797: 25,2274           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
024060,001798: 
024061,001799: 25,2275           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
024062,001800: 25,2276           01315                           TC       RRRET                                 #  RETURN TO CALLER.
024063,001801: 
024064,001802: 25,2277           11317                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
024065,001803: 25,2300           12302                           TCF      +2                                    #  SETTING A TO 0.
024066,001804: 25,2301           56001                           XCH      L                                     
024067,001805: 25,2302           53110                           DXCH     TANG                                  
024068,001806: 
024069,001807: 25,2303           02306                           TC       RROUT                                 
024070,001808: 
024071,001809: 25,2304           12252                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
024072,001810: 
024073,001811: 25,2305           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
024074,001812: 

Page 546

024076,001814:                                                                                                  #  PROGRAM NAME_  RROUT                                                    RROR COUNTER SCALING. RROUT LIMITS THEM
024077,001815: 
024078,001816:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024079,001817:                                                                                                  #  RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
024080,001818:                                                                                                  #  ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
024081,001819:                                                                                                  #  GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
024082,001820:                                                                                                  #  TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
024083,001821:                                                                                                  #  THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
024084,001822:                                                                                                  #  384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
024085,001823:                                                                                                  #  LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
024086,001824:                                                                                                  #  THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
024087,001825:                                                                                                  #  THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
024088,001826:                                                                                                  #  THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
024089,001827:                                                                                                  #  PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
024090,001828:                                                                                                  #  OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
024091,001829:                                                                                                  #  ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
024092,001830: 
024093,001831:                                                                                                  #  CALLING SEQUENCE:
024094,001832:                                                                                                  #  L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
024095,001833:                                                                                                  #  RRTONLY, RRSONLY, AND DODES
024096,001834: 
024097,001835:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024098,001836:                                                                                                  #  TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
024099,001837:                                                                                                  #  (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
024100,001838: 
024101,001839:                                                                                                  #  SUBROUTINES CALLED_
024102,001840:                                                                                                  #  MAGSUB
024103,001841: 
024104,001842:                                                                                                  #  JOBS OR TASKS INITIATED_
024105,001843:                                                                                                  #  NONE
024106,001844: 
024107,001845:                                                                                                  #  ALARMS_  NONE
024108,001846: 
024109,001847:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                                     SIRED VALUES. RUPT MUST BE INHIBITED.
024110,001848: 
024111,001849: 25,2306           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
024112,001850: 25,2307           34753                           CAF      ONE                                   #  LOOP TWICE.
024113,001851: 25,2310           54062        RROUT2             TS       ITEMP2                                
024114,001852: 25,2311           50000                           INDEX    A                                     
024115,001853: 25,2312           31107                           CA       TANG                                  
024116,001854: 25,2313           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
024117,001855: 
024118,001856: 25,2314           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
024119,001857: 25,2315           77177        -RRLIMIT           DEC      -384       B-14                       
024120,001858: 25,2316           12335                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
024121,001859: 
024122,001860: 25,2317           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
024123,001861: 25,2320           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
024124,001862: 25,2321           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
024125,001863: 25,2322           40000                           COM                                            
024126,001864: 

Page 547

024128,001866: 25,2323           60061                           AD       ITEMP1                                
024129,001867: 25,2324           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
024130,001868: 25,2325           50062                           INDEX    ITEMP2                                
024131,001869: 25,2326           54053                           TS       CDUTCMD                               
024132,001870: 
024133,001871: 25,2327           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
024134,001872: 25,2330           12310                           TCF      RROUT2                                
024135,001873: 
024136,001874: 25,2331           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
024137,001875: 25,2332           00006                           EXTEND                                         
024138,001876: 25,2333           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
024139,001877: 25,2334           00001                           TC       L                                     #  RETURN.
024140,001878: 
024141,001879: 25,2335           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
024142,001880: 25,2336           42315                           CS       -RRLIMIT                              
024143,001881: 25,2337           12341                           TCF      +2                                    
024144,001882: 25,2340           32315                           CA       -RRLIMIT                              
024145,001883: 25,2341           54061                           TS       ITEMP1                                
024146,001884: 25,2342           12320                           TCF      SETRRCTR   +1                         
024147,001885: 

Page 548

024149,001887:                                                                                                  #           ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
024150,001888: 
024151,001889: 25,2343           32372        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
024152,001890: 25,2344           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
024153,001891: 25,2345           10000                           CCS      A                                     
024154,001892: 25,2346           13530                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
024155,001893: 
024156,001894: 25,2347           00004                           INHINT                                         
024157,001895: 25,2350           44737                           CS       BIT13                                 #  SET FLAG TO SHOW ZEROING IN PROGRESS.
024158,001896: 25,2351           70110                           MASK     RADMODES                              
024159,001897: 25,2352           64737                           AD       BIT13                                 
024160,001898: 25,2353           54110                           TS       RADMODES                              
024161,001899: 
024162,001900: 25,2354           34753                           CAF      ONE                                   
024163,001901: 25,2355           05203                           TC       WAITLIST                              
024164,001902: 25,2356  E7,1454                                  EBANK=   LOSCOUNT                              
024165,001903: 25,2356           02370 52067                     2CADR    RRZ2                                  
024166,001904: 
024167,001905: 25,2360           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
024168,001906: 25,2361           74752                           MASK     BIT2                                  
024169,001907: 25,2362           10000                           CCS      A                                     
024170,001908: 25,2363           12366                           TCF      ROADBACK                              
024171,001909: 25,2364           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
024172,001910: 25,2365           00510                           OCT      510                                   
024173,001911: 25,2366           00003        ROADBACK           RELINT                                         
024174,001912: 25,2367           14631                           TCF      SWRETURN                              
024175,001913: 
024176,001914: 25,2370           02071        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
024177,001915: 25,2371           13546                           TCF      ENDRADAR                              
024178,001916: 
024179,001917: 25,2372           02001        BIT11+1            OCT      02001                                 
024180,001918: 

Page 549

024182,001920:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                  R (HALF-UNIT) IN RRTARGET. REMODES IF
024183,001921: 
024184,001922:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024185,001923:                                                                                                  #  THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
024186,001924:                                                                                                  #  WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
024187,001925:                                                                                                  #  (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
024188,001926:                                                                                                  #  ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
024189,001927:                                                                                                  #  TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
024190,001928:                                                                                                  #  MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
024191,001929:                                                                                                  #  RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
024192,001930:                                                                                                  #  TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
024193,001931:                                                                                                  #  RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
024194,001932:                                                                                                  #  PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
024195,001933:                                                                                                  #  LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
024196,001934:                                                                                                  #  REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
024197,001935:                                                                                                  #  CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
024198,001936:                                                                                                  #  ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
024199,001937:                                                                                                  #  TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
024200,001938:                                                                                                  #  LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
024201,001939:                                                                                                  #  THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
024202,001940:                                                                                                  #  INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
024203,001941:                                                                                                  #  EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
024204,001942:                                                                                                  #  OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
024205,001943:                                                                                                  #  BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
024206,001944:                                                                                                  #  TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
024207,001945: 
024208,001946:                                                                                                  #  CALLING SEQUENCE:
024209,001947:                                                                                                  #  L  STCALL  RRTARGET  (LOS HALF-UNIT VECTOR IN SM COORDINATES)
024210,001948:                                                                                                  #  L+1  RRDESSM
024211,001949:                                                                                                  #  L+2  BASIC  (VEHICLE MANEUVER REQUIRED)
024212,001950:                                                                                                  #  L+3  BASIC  (NO VEHICLE MANEUVER REQUIRED)
024213,001951: 
024214,001952:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024215,001953:                                                                                                  #  RRTARGET, RADMODES
024216,001954: 
024217,001955:                                                                                                  #  SUBROUTINES CALLED_
024218,001956:                                                                                                  #  READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
024219,001957:                                                                                                  #  PART OF), RMODINV
024220,001958: 
024221,001959:                                                                                                  #  JOBS OR TASKS INITIATED_
024222,001960:                                                                                                  #     NONE
024223,001961: 
024224,001962:                                                                                                  #  ALARMS_  NONE
024225,001963: 
024226,001964:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
024227,001965:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
024228,001966:                                                                                                  #  TO L+3 FROM STARTDES)                                                   CAN BE DONE IN PRESENT VEH ATTITUDE.
024229,001967: 
024230,001968: 25,2373           43020        RRDESSM            STQ      CLEAR                                 
024231,001969: 25,2374           01113                                    DESRET                                

Page 550

024233,001971: 25,2375           00271                                    RRNBSW                                
024234,001972: 25,2376           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
024235,001973: 25,2377           47443                                    CDUTRIG                               
024236,001974: 25,2400           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
024237,001975: 25,2401           01102                                    RRTARGET                              
024238,001976: 25,2402           47575                                    *SMNB*                                
024239,001977: 
024240,001978: 25,2403           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
024241,001979: 25,2404           26133                                    RRANGLES                              #  ALTERNATE MODE.
024242,001980: 25,2405           77776                           EXIT                                           
024243,001981: 
024244,001982: 25,2406           00004                           INHINT                                         
024245,001983: 25,2407           04523                           TC       RRLIMCHK                              
024246,001984: 25,2410           01107                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
024247,001985: 25,2411           02414                           TC       +3                                    #  NOT IN CURRENT MODE
024248,001986: 25,2412           25113        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
024249,001987: 25,2413           02432                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
024250,001988: 25,2414           40104                           CS       FLAGWRD8                              
024251,001989: 25,2415           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
024252,001990: 25,2416           00006                           EXTEND                                         
024253,001991: 25,2417           12456                           BZF      NORDSTAL                              #  BRANCH-YES-CANNOT DESIGNATE IN MODE 2
024254,001992: 25,2420           02461                           TC       TRYSWS                                
024255,001993: 
024256,001994: 
024257,001995: 25,2421           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
024258,001996: 25,2422           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
024259,001997: 25,2423           00006                           EXTEND                                         
024260,001998: 25,2424           12456                           BZF      NORDSTAL                              #  BRANCH-YES-RETURN TO CALLER - ALARM 527
024261,001999: 25,2425           30074                           CA       STATE                                 
024262,002000: 25,2426           74745                           MASK     RNDVZBIT                              
024263,002001: 25,2427           10000                           CCS      A                                     #  TEST RNDVZFLG.
024264,002002: 25,2430           02471                           TC       NODESSM                               #  NOT ON MOON-CALL FOR ATTITUDE MANEUVER
024265,002003: 25,2431           15155                           TCF      ENDOFJOB                              #  ...BUT NOT IN R29.
024266,002004: 

Page 551

024268,002006:                                                                                                  #  PROGRAM NAME_  STARTDES                                                 STORED AS A HALF-UNIT VECTOR IN RRTARGET
024269,002007: 
024270,002008:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                 CKON IS DESIRED. BIT14 OF RADMODES IS
024271,002009:                                                                                                  #  STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
024272,002010:                                                                                                  #  BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
024273,002011:                                                                                                  #  AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
024274,002012:                                                                                                  #  OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
024275,002013:                                                                                                  #  ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
024276,002014:                                                                                                  #  OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
024277,002015:                                                                                                  #  DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
024278,002016:                                                                                                  #  THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
024279,002017:                                                                                                  #  (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
024280,002018:                                                                                                  #  OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
024281,002019:                                                                                                  #  THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
024282,002020:                                                                                                  #  THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
024283,002021:                                                                                                  #  AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
024284,002022:                                                                                                  #  ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
024285,002023:                                                                                                  #  REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
024286,002024:                                                                                                  #  WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
024287,002025:                                                                                                  #  AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
024288,002026:                                                                                                  #  DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
024289,002027:                                                                                                  #  COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
024290,002028:                                                                                                  #  AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
024291,002029: 
024292,002030:                                                                                                  #  CALLING SEQUENCE:
024293,002031:                                                                                                  #  FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
024294,002032: 
024295,002033:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024296,002034:                                                                                                  #  RADMODES, (SEE DODES)
024297,002035: 
024298,002036:                                                                                                  #  SUBROUTINES CALLED_
024299,002037:                                                                                                  #  SETRRECR, WAITLIST
024300,002038: 
024301,002039:                                                                                                  #  JOBS OR TASKS INITIATED_
024302,002040:                                                                                                  #  BEGDES
024303,002041: 
024304,002042:                                                                                                  #  ALARMS_  NONE
024305,002043: 
024306,002044:                                                                                                  #  EXIT_  L+3 OF CALLING PROGRAM (SEE RRDESSM)
024307,002045:                                                                                                  #  L+2 OF CALLING PROGRAM (SEE RRDESNB)
024308,002046: 
024309,002047: 25,2432           25113        STARTDES           INCR     DESRET                                
024310,002048: 25,2433           40110                           CS       RADMODES                              
024311,002049: 25,2434           74742                           MASK     BIT10                                 
024312,002050: 25,2435           26110                           ADS      RADMODES                              
024313,002051: 25,2436           74741                           MASK     BIT11                                 #  SEE IF REPOSITION IN PROGRESS.
024314,002052: 25,2437           10000                           CCS      A                                     
024315,002053: 25,2440           12446                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
024316,002054: 
024317,002055: 25,2441           02156                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.

Page 552

024319,002057: 25,2442           34752                           CAF      TWO                                   
024320,002058: 25,2443           05203                           TC       WAITLIST                              
024321,002059: 25,2444  E7,1454                                  EBANK=   LOSCOUNT                              
024322,002060: 25,2444           02573 52067                     2CADR    BEGDES                                
024323,002061: 
024324,002062: 25,2446           31306        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
024325,002063: 25,2447           00006                           EXTEND                                         
024326,002064: 25,2450           12452                           BZF      DESRTRN                               #  YES   SET EXIT
024327,002065: 25,2451           05155                           TC       ENDOFJOB                              #  NO
024328,002066: 25,2452           00003        DESRTRN            RELINT                                         
024329,002067: 25,2453           25113                           INCR     DESRET                                
024330,002068: 25,2454           31113                           CA       DESRET                                
024331,002069: 25,2455           14640                           TCF      BANKJUMP                              
024332,002070: 
024333,002071: 25,2456           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE  OUT ANYONE
024334,002072: 25,2457           55306                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
024335,002073: 25,2460           12452                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
024336,002074: 

Page 553

024338,002076:                                                                                                  #           SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
024339,002077: 
024340,002078: 25,2461           02233        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
024341,002079: 25,2462           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
024342,002080: 25,2463           01111                           ADRES    MODEB                                 
024343,002081: 25,2464           12471                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
024344,002082: 
024345,002083: 25,2465           02233                           TC       RMODINV                               #  RESET BIT12
024346,002084: 25,2466           34736                           CAF      BIT14                                 #  SET FLAG FOR REMODE.
024347,002085: 25,2467           26110                           ADS      RADMODES                              
024348,002086: 
024349,002087: 25,2470           12412                           TCF      OKDESSM                               
024350,002088: 
024351,002089: 25,2471           02233        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
024352,002090: 25,2472           25113                           INCR     DESRET                                #  TO CALLER +2
024353,002091: 25,2473           12456                           TCF      NORDSTAL                              
024354,002092: 
024355,002093: 25,2474           00074        MAXTRYS            DEC      60         B-14                       
024356,002094: 

Page 554

024358,002096:                                                                                                  #           DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
024359,002097:                                                                                                  #  TANG AND TANG +1.
024360,002098: 
024361,002099: 25,2475           04645        RRDESNB            TC       MAKECADR                              
024362,002100: 25,2476           55113                           TS       DESRET                                
024363,002101: 
024364,002102: 25,2477           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
024365,002103: 25,2500           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
024366,002104: 25,2501           32474                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
024367,002105: 25,2502           55114                           TS       DESCOUNT                              #  FOR DESIGNATE
024368,002106: 25,2503           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
024369,002107: 25,2504           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
024370,002108: 25,2505           01107                           ADRES    TANG                                  
024371,002109: 25,2506           12523                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
024372,002110: 
024373,002111: 25,2507           00003        OKDESNB            RELINT                                         
024374,002112: 25,2510           00006                           EXTEND                                         
024375,002113: 25,2511           31110                           DCA      TANG                                  
024376,002114: 25,2512           53751                           DXCH     TANGNB                                
024377,002115: 25,2513           06036                           TC       INTPRET                               
024378,002116: 
024379,002117: 25,2514           77624                           CALL                                           #  GET LOS IN NB COORDS.
024380,002118: 25,2515           46041                                    RRNB                                  
024381,002119: 25,2516           01102                           STORE    RRTARGET                              
024382,002120: 
024383,002121: 25,2517           77414                           SET      EXIT                                  
024384,002122: 25,2520           00071                                    RRNBSW                                
024385,002123: 
024386,002124: 25,2521           00004                           INHINT                                         
024387,002125: 25,2522           12433                           TCF      STARTDES   +1                         
024388,002126: 25,2523           02233        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
024389,002127: 25,2524           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
024390,002128: 25,2525           01107                           ADRES    TANG                                  
024391,002129: 25,2526           12533                           TCF      NODESNB                               #  NOT POSSIBLE.
024392,002130: 
024393,002131: 25,2527           02233                           TC       RMODINV                               
024394,002132: 25,2530           34736                           CAF      BIT14                                 #  CALL FOR REMODE.
024395,002133: 25,2531           26110                           ADS      RADMODES                              
024396,002134: 25,2532           12507                           TCF      OKDESNB                               
024397,002135: 
024398,002136: 25,2533           02233        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
024399,002137: 25,2534           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
024400,002138: 25,2535           00502                           OCT      502                                   
024401,002139: 25,2536           06011                           TC       CLRADMOD                              
024402,002140: 25,2537           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
024403,002141: 
024404,002142: 25,2540           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024405,002143: 25,2541           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
024406,002144: 25,2542           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
024407,002145: 25,2543           00006                           EXTEND                                         
024408,002146: 

Page 555

024410,002148: 25,2544           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
024411,002149: 25,2545           30001                           DCA      0                                     
024412,002150: 25,2546           52062                           DXCH     ITEMP1                                
024413,002151: 25,2547           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
024414,002152: 
024415,002153: 25,2550           34740                           CAF      BIT12                                 #  SEE WHICH MODE RR IS IN
024416,002154: 25,2551           70110                           MASK     RADMODES                              
024417,002155: 25,2552           10000                           CCS      A                                     
024418,002156: 25,2553           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
024419,002157: 25,2554           30061                           CA       ITEMP1                                
024420,002158: 25,2555           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
024421,002159: 25,2556           66161                           DEC      -.30555                               #    1. ABS(T) L 55 DEGS
024422,002160: 25,2557           00001                           TC       L                                     #    2  SHAFT LIMITS AT +59, -85 DEGS
024423,002161: 
024424,002162: 25,2560           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
024425,002163: 25,2561           00006                           EXTEND                                         
024426,002164: 25,2562           62570                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024427,002165: 25,2563           64562                           AD       5.5DEGS                               
024428,002166: 25,2564           04512        SHAFTLIM           TC       MAGSUB                                
024429,002167: 25,2565           64420                           DEC      -.35833                               #  64.5 DEGREES
024430,002168: 25,2566           00001                           TC       L                                     #  NOT IN LIMITS
024431,002169: 25,2567           04560                           TC       RRLIMOK                               #  IN LIMITS
024432,002170: 25,2570           62572        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024433,002171: 25,2571           12564                           TCF      SHAFTLIM                              
024434,002172: 
024435,002173: 
024436,002174: 25,2572           03512        20.5DEGS           DEC      .11389                                
024437,002175: 

Page 556

024439,002177:                                                                                                  #  PROGRAM NAME_  BEGDES
024440,002178: 
024441,002179:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024442,002180:                                                                                                  #  BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024443,002181:                                                                                                  #  ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024444,002182:                                                                                                  #  REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024445,002183:                                                                                                  #  CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024446,002184:                                                                                                  #  EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024447,002185:                                                                                                  #  FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024448,002186:                                                                                                  #  PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024449,002187:                                                                                                  #  AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024450,002188:                                                                                                  #  FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024451,002189:                                                                                                  #  BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024452,002190:                                                                                                  #  MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024453,002191:                                                                                                  #  REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024454,002192:                                                                                                  #  TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024455,002193:                                                                                                  #  IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024456,002194:                                                                                                  #  BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024457,002195:                                                                                                  #  CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024458,002196:                                                                                                  #  IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024459,002197:                                                                                                  #  EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024460,002198:                                                                                                  #  SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024461,002199:                                                                                                  #  RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024462,002200:                                                                                                  #  (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024463,002201:                                                                                                  #  (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024464,002202:                                                                                                  #  TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024465,002203:                                                                                                  #  EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024466,002204:                                                                                                  #  BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024467,002205: 
024468,002206:                                                                                                  #  CALLING SEQUENCE:
024469,002207:                                                                                                  #  WAITLIST CALL FROM STARTDES
024470,002208:                                                                                                  #  TCF BEGDES FROM DORREPOS
024471,002209:                                                                                                  #  TC STDESIG RETURNING, FROM REMODE
024472,002210: 
024473,002211:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024474,002212:                                                                                                  #  DESCOUNT, RADMODES
024475,002213: 
024476,002214:                                                                                                  #  SUBROUTINES CALLED_
024477,002215:                                                                                                  #  ENDRADAR, FINDVAC
024478,002216: 
024479,002217:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
024480,002218: 
024481,002219:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024482,002220:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024483,002221: 
024484,002222:                                                                                                  #  EXIT_  TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024485,002223:                                                                                                  #  ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024486,002224:                                                                                                  #  RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024487,002225: 
024488,002226: 25,2573           40110        BEGDES             CS       RADMODES                              
024489,002227: 

Page 557

024491,002229: 25,2574           74736                           MASK     REMODBIT                              
024492,002230: 25,2575           10000                           CCS      A                                     
024493,002231: 25,2576           02602                           TC       STDESIG                               
024494,002232: 25,2577           02171                           TC       REMODE                                
024495,002233: 25,2600           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
024496,002234: 25,2601           00062                           DEC      50         B-14                       
024497,002235: 
024498,002236: 25,2602           34741        STDESIG            CAF      BIT11                                 
024499,002237: 25,2603           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024500,002238: 25,2604           10000                           CCS      A                                     #  OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024501,002239: 25,2605           12623                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
024502,002240: 
024503,002241: 25,2606           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
024504,002242: 25,2607           12612                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
024505,002243: 25,2610           12612                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024506,002244: 25,2611           12630                           TCF      MOREDES    +1                         
024507,002245: 
024508,002246: 25,2612           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
024509,002247: 25,2613           74742                           MASK     BIT10                                 #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024510,002248: 25,2614           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024511,002249: 25,2615           13546                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
024512,002250: 
024513,002251: 25,2616           11114        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
024514,002252: 25,2617           12627                           TCF      MOREDES                               
024515,002253: 
024516,002254: 25,2620           42635                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024517,002255: 25,2621           00006                           EXTEND                                         
024518,002256: 25,2622           03012                           WAND     CHAN12                                
024519,002257: 25,2623           44742        BADDES             CS       BIT10                                 #  REMOVE DESIGNATE FLAG.
024520,002258: 25,2624           70110                           MASK     RADMODES                              
024521,002259: 25,2625           54110                           TS       RADMODES                              
024522,002260: 25,2626           13562                           TCF      RDBADEND                              
024523,002261: 
024524,002262: 25,2627           55114        MOREDES            TS       DESCOUNT                              
024525,002263: 25,2630           37713                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
024526,002264: 25,2631           05105                           TC       FINDVAC                               
024527,002265: 25,2632  E7,1454                                  EBANK=   LOSCOUNT                              
024528,002266: 25,2632           02636 52067                     2CADR    DODES                                 
024529,002267: 
024530,002268: 25,2634           12600                           TCF      DESLOOP                               
024531,002269: 
024532,002270: 25,2635           20002        B14+B2             OCT      20002                                 
024533,002271: 

Page 558

024535,002273:                                                                                                  #  PROGRAM NAME_  DODES
024536,002274: 
024537,002275:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024538,002276:                                                                                                  #  DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024539,002277:                                                                                                  #  COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024540,002278:                                                                                                  #  THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024541,002279:                                                                                                  #  NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024542,002280:                                                                                                  #  SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024543,002281:                                                                                                  #  + SHAFT = LOS  . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024544,002282:                                                                                                  #  -TRUNNION = LOS  . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024545,002283:                                                                                                  #  THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024546,002284:                                                                                                  #  (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024547,002285:                                                                                                  #  POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024548,002286:                                                                                                  #  SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024549,002287:                                                                                                  #  .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024550,002288:                                                                                                  #  (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024551,002289:                                                                                                  #  THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024552,002290:                                                                                                  #  CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024553,002291:                                                                                                  #  IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024554,002292:                                                                                                  #  OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024555,002293:                                                                                                  #  CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024556,002294:                                                                                                  #  INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024557,002295:                                                                                                  #  CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024558,002296:                                                                                                  #  (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024559,002297:                                                                                                  #  DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024560,002298:                                                                                                  #  (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024561,002299:                                                                                                  #  COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024562,002300:                                                                                                  #  PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024563,002301:                                                                                                  #  LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024564,002302:                                                                                                  #  DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024565,002303:                                                                                                  #  COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024566,002304:                                                                                                  #  CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024567,002305:                                                                                                  #  BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024568,002306:                                                                                                  #  RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024569,002307:                                                                                                  #  PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024570,002308:                                                                                                  #  THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024571,002309:                                                                                                  #  AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024572,002310:                                                                                                  #  IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024573,002311:                                                                                                  #  (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024574,002312:                                                                                                  #  VIA ENDOFJOB.
024575,002313: 
024576,002314:                                                                                                  #  CALLING SEQUENCE:
024577,002315:                                                                                                  #  EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024578,002316: 
024579,002317:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024580,002318:                                                                                                  #  RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024581,002319:                                                                                                  #  LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024582,002320: 
024583,002321:                                                                                                  #  SUBROUTINES CALLED_
024584,002322:                                                                                                  #  READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024585,002323: 

Page 559

024587,002325:                                                                                                  #  JOBS OR TASKS INITIATED_
024588,002326:                                                                                                  #  NONE
024589,002327: 
024590,002328:                                                                                                  #  ALARMS_  NONE
024591,002329: 
024592,002330:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
024593,002331: 
024594,002332: 25,2636           00006        DODES              EXTEND                                         
024595,002333: 25,2637           30036                           DCA      CDUT                                  
024596,002334: 25,2640           53110                           DXCH     TANG                                  
024597,002335: 
024598,002336: 25,2641           06036                           TC       INTPRET                               
024599,002337: 
024600,002338: 25,2642           77201                           SETPD    VLOAD                                 
024601,002339: 25,2643           00001                                    0                                     
024602,002340: 25,2644           01102                                    RRTARGET                              
024603,002341: 25,2645           74214                           BON      VXSC                                  
024604,002342: 25,2646           00311                                    RRNBSW                                
024605,002343: 25,2647           52661                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
024606,002344: 25,2650           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
024607,002345: 25,2651           63372                           VSL1     PDVL                                  
024608,002346: 25,2652           01761                                    LOSVEL                                
024609,002347: 25,2653           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
024610,002348: 25,2654           13072                                    MCTOMS                                
024611,002349: 25,2655           45056                           UNIT     CALL                                  
024612,002350: 25,2656           47443                                    CDUTRIG                               
024613,002351: 25,2657           77624                           CALL                                           
024614,002352: 25,2660           47575                                    *SMNB*                                
024615,002353: 
024616,002354: 25,2661           14041        DONBRD             STODL    32D                                   
024617,002355: 25,2662           01111                                    TANG       +1                         
024618,002356: 25,2663           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
024619,002357: 25,2664           21465                                    CDULOGIC                              #       (-SIN(S)).
024620,002358: 25,2665           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
024621,002359: 25,2666           41546                           COS      PUSH                                  
024622,002360: 25,2667           65205                           DMP      PDDL                                  
024623,002361: 25,2670           00041                                    32D                                   
024624,002362: 25,2671           00045                                    36D                                   
024625,002363: 25,2672           44205                           DMP      BDSU                                  
024626,002364: 25,2673           00001                                    0                                     
024627,002365: 25,2674           77626                           STADR                                          
024628,002366: 25,2675           76666                           STORE    TANG       +1                         #  SHAFT COMMAND
024629,002367: 
024630,002368: 25,2676           47135                           SLOAD    RTB                                   
024631,002369: 25,2677           01110                                    TANG                                  
024632,002370: 25,2700           21465                                    CDULOGIC                              
024633,002371: 25,2701           71406                           PUSH     COS                                   #  COS(T) TO 4.
024634,002372: 25,2702           73525                           PDDL     SIN                                   
024635,002373: 25,2703           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
024636,002374: 25,2704           00003                                    2                                     
024637,002375: 

Page 560

024639,002377: 25,2705           65352                           SL1      PDDL                                  #  DEFINE VECTOR U = (SIN(T)SIN(S))
024640,002378: 25,2706           00005                                    4                                     #                    (COS(T)      )
024641,002379: 25,2707           41325                           PDDL     DMP                                   #                    (SIN(T)COS(S))
024642,002380: 25,2710           00007                                    6                                     
024643,002381: 25,2711           00001                                    0                                     
024644,002382: 25,2712           55552                           SL1      VDEF                                  
024645,002383: 25,2713           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
024646,002384: 25,2714           00041                                    32D                                   
024647,002385: 

Page 561

024649,002387:                                                                                                  #           AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024650,002388:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024651,002389: 
024652,002390: 25,2715           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
024653,002391: 25,2716           00006                           EXTEND                                         
024654,002392: 25,2717           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
024655,002393: 25,2720           55107                           TS       TANG                                  #  TRUNNION COMMAND.
024656,002394: 25,2721           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
024657,002395: 25,2722           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
024658,002396: 25,2723           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
024659,002397: 25,2724           12727                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
024660,002398: 25,2725           31110                           CA       TANG       +1                         #  SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024661,002399: 25,2726           12730                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
024662,002400: 25,2727           41110                 +3        CS       TANG       +1                         
024663,002401: 25,2730           00006                           EXTEND                                         
024664,002402: 25,2731           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
024665,002403: 25,2732           55110                           TS       TANG       +1                         #  SHAFT COMMAND.
024666,002404: 25,2733           06036                           TC       INTPRET                               
024667,002405: 
024668,002406: 25,2734           41345                           DLOAD    DMP                                   
024669,002407: 25,2735           00003                                    2                                     #  COS(S).
024670,002408: 25,2736           00005                                    4                                     #  COS(T).
024671,002409: 25,2737           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
024672,002410: 25,2740           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
024673,002411: 25,2741           00001                                    0                                     #  SIN(S).
024674,002412: 25,2742           72405                           DMP      SL1                                   
024675,002413: 25,2743           00005                                    4                                     #  COS(T).
024676,002414: 25,2744           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
024677,002415: 25,2745           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
024678,002416: 25,2746           52751                                    +3                                    
024679,002417: 25,2747           77624                           CALL                                           
024680,002418: 25,2750           47577                                    *NBSM*                                #  GET URR IN SM AXES.
024681,002419: 25,2751           77441                           DOT      EXIT                                  
024682,002420: 25,2752           01102                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
024683,002421: 
024684,002422: 25,2753           00006                           EXTEND                                         
024685,002423: 25,2754           43070                           DCS      COS1/2DG                              
024686,002424: 25,2755           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
024687,002425: 25,2756           10154                           CCS      MPAC                                  
024688,002426: 25,2757           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
024689,002427: 25,2760           12762                           TCF      +2                                    
024690,002428: 25,2761           34753                           CA       ONE                                   
024691,002429: 25,2762           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.
024692,002430: 

Page 562

024694,002432:                                                                                                  #           SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024695,002433: 
024696,002434: 25,2763           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024697,002435: 25,2764           12767                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
024698,002436: 25,2765           12767                           TCF      SIGNLCHK                              #  ERROR SIGNALS
024699,002437: 25,2766           13017                           TCF      DORROUT                               
024700,002438: 25,2767           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024701,002439: 25,2770           13000                           TCF      DGOODCHK                              
024702,002440: 25,2771           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024703,002441: 25,2772           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
024704,002442: 25,2773           10000                           CCS      A                                     
024705,002443: 25,2774           13005                           TCF      RRDESDUN                              
024706,002444: 
024707,002445: 25,2775           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
024708,002446: 25,2776           00006                           EXTEND                                         
024709,002447: 25,2777           05012                           WOR      CHAN12                                
024710,002448: 
024711,002449: 25,3000           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
024712,002450: 25,3001           00006                           EXTEND                                         
024713,002451: 25,3002           02033                           RAND     CHAN33                                
024714,002452: 25,3003           10000                           CCS      A                                     
024715,002453: 25,3004           13017                           TCF      DORROUT                               
024716,002454: 
024717,002455: 25,3005           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024718,002456: 25,3006           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
024719,002457: 25,3007           00004                           INHINT                                         
024720,002458: 25,3010           54110                           TS       RADMODES                              
024721,002459: 
024722,002460: 25,3011           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
024723,002461: 25,3012           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
024724,002462: 25,3013           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
024725,002463: 25,3014           00006                           EXTEND                                         
024726,002464: 25,3015           03012                           WAND     CHAN12                                
024727,002465: 25,3016           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
024728,002466: 
024729,002467: 25,3017           40074        DORROUT            CS       FLAGWRD0                              #  IF NOT IN P20/P22 BUT V41,DON'T DO
024730,002468: 25,3020           74745                           MASK     RNDVZBIT                              #  VELOCITY CORRECTION.
024731,002469: 25,3021           10000                           CCS      A                                     
024732,002470: 25,3022           03041                           TC       NOTP20                                
024733,002471: 25,3023           06036                           TC       INTPRET                               
024734,002472: 25,3024           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
024735,002473: 25,3025           01102                                    RRTARGET                              
024736,002474: 25,3026           01767                                    MLOSV                                 
024737,002475: 25,3027           41572                           VSL1     PUSH                                  
024738,002476: 25,3030           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
024739,002477: 25,3031           01761                                    LOSVEL                                #  TO LOS VECTOR
024740,002478: 25,3032           13072                                    MCTOMS                                
024741,002479: 25,3033           53362                           VSR1     VAD                                   
024742,002480: 25,3034           77656                           UNIT                                           
024743,002481: 25,3035           15102                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)
024744,002482: 

Page 563

024746,002484: 25,3036           00045                                    36D                                   
024747,002485: 25,3037           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
024748,002486: 25,3040           77776                           EXIT                                           
024749,002487: 25,3041           00004        NOTP20             INHINT                                         
024750,002488: 25,3042           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
024751,002489: 25,3043           74741                           MASK     BIT11                                 #  REPOSITION HAS TAKEN OVER.
024752,002490: 25,3044           10000                           CCS      A                                     
024753,002491: 25,3045           02306                           TC       RROUT                                 
024754,002492: 
024755,002493: 25,3046           30076                           CA       FLAGWRD2                              
024756,002494: 25,3047           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
024757,002495: 25,3050           00006                           EXTEND                                         #  LOS COUNTER
024758,002496: 25,3051           15155                           BZF      ENDOFJOB                              
024759,002497: 25,3052           11454                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
024760,002498: 25,3053           03064                           TC       DODESEND                              #  A NEW LOS
024761,002499: 25,3054           00004                           INHINT                                         
024762,002500: 25,3055           06027                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
024763,002501: 25,3056           52602                           CADR     DESLOOP    +2                         
024764,002502: 25,3057           00003                           RELINT                                         
024765,002503: 25,3060           10067                           CCS      NEWJOB                                
024766,002504: 25,3061           05122                           TC       CHANG1                                
024767,002505: 25,3062           04616                           TC       BANKCALL                              
024768,002506: 25,3063           50752                           CADR     R21LEM2                               
024769,002507: 
024770,002508: 
024771,002509: 25,3064           55454        DODESEND           TS       LOSCOUNT                              
024772,002510: 25,3065           05155                           TC       ENDOFJOB                              
024773,002511: 
024774,002512: 
024775,002513: 25,3066           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
024776,002514: 25,3067           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
024777,002515: 25,3071           00310 00000  MCTOMS             2DEC     100        B-13                       
024778,002516: 

Page 564

024780,002518:                                                                                                  #  RADAR READ INITIALIZATION
024781,002519: 
024782,002520:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
024783,002521: 
024784,002522: 25,3073           03113        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
024785,002523: 25,3074           00017        ALLREAD            OCT      17                                    
024786,002524: 
024787,002525: 25,3075           03114        LRVELZ             TC       INITREAD                              
024788,002526: 25,3076           00016                           OCT      16                                    
024789,002527: 
024790,002528: 25,3077           03114        LRVELY             TC       INITREAD                              
024791,002529: 25,3100           00015                           OCT      15                                    
024792,002530: 
024793,002531: 25,3101           03114        LRVELX             TC       INITREAD                              
024794,002532: 25,3102           00014                           OCT      14                                    
024795,002533: 
024796,002534: 25,3103           03113        RRRDOT             TC       INITREAD   -1                         
024797,002535: 25,3104           00012                           OCT      12                                    
024798,002536: 
024799,002537: 25,3105           03113        RRRANGE            TC       INITREAD   -1                         
024800,002538: 25,3106           00011                           OCT      11                                    
024801,002539: 
024802,002540:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
024803,002541:                                                                                                  #  WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
024804,002542: 
024805,002543: 25,3107           55105        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
024806,002544: 25,3110           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
024807,002545: 25,3111           51105                           INDEX    TIMEHOLD                              
024808,002546: 25,3112           13075                           TCF      LRVELZ                                
024809,002547: 

Page 565

024811,002549: 25,3113           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
024812,002550: 25,3114           00004        INITREAD           INHINT                                         
024813,002551: 
024814,002552: 25,3115           55105                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
024815,002553: 25,3116           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
024816,002554: 25,3117           74751                           MP       BIT3                                  #  ENCOUNTERED).
024817,002555: 25,3120           53106                           DXCH     TIMEHOLD                              
024818,002556: 
024819,002557: 25,3121           10000                           CCS      A                                     
024820,002558: 25,3122           55111                           TS       NSAMP                                 
024821,002559: 25,3123           64753                           AD       ONE                                   
024822,002560:                                                                                                  #           INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
024823,002561:                                                                                                  #                                                   DOUBLE
024824,002562: 25,3124           55100                           TS       SAMPLIM                               
024825,002563: 
024826,002564: 25,3125           33147                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
024827,002565: 25,3126           00006                           EXTEND                                         
024828,002566: 25,3127           02033                           RAND     CHAN33                                
024829,002567: 25,3130           55113                           TS       OLDATAGD                              
024830,002568: 
024831,002569: 25,3131           43074                           CS       ALLREAD                               
024832,002570: 25,3132           00006                           EXTEND                                         
024833,002571: 25,3133           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
024834,002572: 
024835,002573: 25,3134           50002                           INDEX    Q                                     
024836,002574: 25,3135           30000                           CAF      0                                     
024837,002575: 25,3136           00006                           EXTEND                                         
024838,002576: 25,3137           05013                           WOR      CHAN13                                #  SET NEW RADAR BITS
024839,002577: 
024840,002578: 25,3140           00006                           EXTEND                                         
024841,002579: 25,3141           30025                           DCA      TIME2                                 
024842,002580: 25,3142           21106                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
024843,002581: 
024844,002582: 25,3143           34755                           CAF      ZERO                                  
024845,002583: 25,3144           54001                           TS       L                                     
024846,002584: 25,3145           53102                           DXCH     SAMPLSUM                              
024847,002585: 25,3146           12366                           TCF      ROADBACK                              
024848,002586: 
024849,002587: 25,3147           00230        DGBITS             OCT      230                                   
024850,002588: 

Page 566

024852,002590:                                                                                                  #  RADAR RUPT READER
024853,002591: 
024854,002592:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024855,002593: 
024856,002594: 25,2000                                           SETLOC   RADARUPT                              
024857,002595: 25,2000                                           BANK                                           
024858,002596: 
024859,002597: 25,3150                                           COUNT*   $$/RRUPT                              
024860,002598: 25,3150           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
024861,002599: 25,3151           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
024862,002600: 25,3152           54016                           TS       BANKRUPT                              
024863,002601: 25,3153           00006                           EXTEND                                         
024864,002602: 25,3154           22012                           QXCH     QRUPT                                 
024865,002603: 
024866,002604: 25,3155           34757                           CAF      SEVEN                                 
024867,002605: 25,3156           00006                           EXTEND                                         
024868,002606: 25,3157           02013                           RAND     CHAN13                                
024869,002607: 25,3160           55335                           TS       DNINDEX                               
024870,002608: 25,3161           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO,DO NOT STORE
024871,002609: 25,3162           13166                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024872,002610: 25,3163           30046                           CA       RNRAD                                 
024873,002611: 25,3164           51335                           INDEX    DNINDEX                               
024874,002612: 25,3165           55332                           TS       DNRRANGE   -1                         
024875,002613: 25,3166           11100        TRYCOUNT           CCS      SAMPLIM                               
024876,002614: 25,3167           13211                           TCF      PLENTY                                
024877,002615: 25,3170           13174                           TCF      NOMORE                                
024878,002616: 25,3171           05567                           TC       ALARM                                 
024879,002617: 25,3172           00520                           OCT      520                                   
024880,002618: 25,3173           05270                           TC       RESUME                                
024881,002619: 
024882,002620: 25,3174           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
024883,002621: 25,3175           74735                           MASK     LRBYBIT                               
024884,002622: 25,3176           00006                           EXTEND                                         
024885,002623: 25,3177           13206                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
024886,002624: 
024887,002625: 25,3200           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
024888,002626: 25,3201           74743                           MASK     R04FLBIT                              #  IF 1,R04 IS RUNNING. DO NOT ALARM-
024889,002627: 25,3202           00006                           EXTEND                                         
024890,002628: 25,3203           13206                           BZF      BADRAD                                
024891,002629: 
024892,002630: 25,3204           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
024893,002631: 25,3205           00521                           OCT      521                                   
024894,002632: 25,3206           44753        BADRAD             CS       ONE                                   
024895,002633: 25,3207           55100                           TS       SAMPLIM                               
024896,002634: 25,3210           03560                           TC       RDBADEND   -2                         
024897,002635: 25,3211           55100        PLENTY             TS       SAMPLIM                               
024898,002636: 25,3212           34751                           CAF      BIT3                                  
024899,002637: 25,3213           00006                           EXTEND                                         
024900,002638: 25,3214           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
024901,002639: 25,3215           00006                           EXTEND                                         
024902,002640: 

Page 567

024904,002642: 25,3216           13276                           BZF      RENDRAD                               
024905,002643: 
024906,002644: 25,3217           03364                           TC       R77CHECK                              #  R77 QUITS HERE.
024907,002645: 25,3220           30110        LRPOSCHK           CA       RADMODES                              #  SEE IF LR IN DESIRED POSITION.
024908,002646: 25,3221           00006                           EXTEND                                         
024909,002647: 25,3222           06033                           RXOR     CHAN33                                
024910,002648: 25,3223           74746                           MASK     BIT6                                  
024911,002649: 25,3224           00006                           EXTEND                                         
024912,002650: 25,3225           13231                           BZF      VELCHK                                
024913,002651: 
024914,002652: 25,3226           05567                           TC       ALARM                                 
024915,002653: 25,3227           00522                           OCT      522                                   
024916,002654: 25,3230           03206                           TC       BADRAD                                
024917,002655: 
024918,002656: 25,3231           36244        VELCHK             CAF      BIN3                                  #  = 00003 OCT
024919,002657: 25,3232           00006                           EXTEND                                         
024920,002658: 25,3233           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
024921,002659: 25,3234           76244                           MASK     BIN3                                  
024922,002660: 25,3235           00006                           EXTEND                                         
024923,002661: 25,3236           13272                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
024924,002662: 
024925,002663: 25,3237           34733                           CAF      POSMAX                                
024926,002664: 25,3240           70046                           MASK     RNRAD                                 
024927,002665: 25,3241           62000                           AD       LVELBIAS                              
024928,002666: 25,3242           54001                           TS       L                                     
024929,002667: 25,3243           30046                           CAE      RNRAD                                 
024930,002668: 25,3244           60000                           DOUBLE                                         
024931,002669: 25,3245           74753                           MASK     BIT1                                  
024932,002670: 25,3246           52064                           DXCH     ITEMP3                                
024933,002671: 
024934,002672: 25,3247           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024935,002673: 25,3250           03442                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
024936,002674:                                                                                                  #  INDEPENDENT OF DATA GOOD.
024937,002675: 
024938,002676: 25,3251           11111                           CCS      NSAMP                                 
024939,002677: 25,3252           03262                           TC       NOEND                                 
024940,002678: 25,3253           44753        GOODRAD            CS       ONE                                   
024941,002679: 25,3254           55100                           TS       SAMPLIM                               
024942,002680: 25,3255           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024943,002681: 25,3256           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
024944,002682: 25,3257           54110                           TS       RADMODES                              
024945,002683: 25,3260           03616                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
024946,002684: 25,3261           03553                           TC       RGOODEND   -2                         
024947,002685: 
024948,002686: 25,3262           55111        NOEND              TS       NSAMP                                 
024949,002687: 25,3263           11100        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
024950,002688: 25,3264           13266                           TCF      +2                                    
024951,002689: 25,3265           13461                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
024952,002690: 25,3266           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
024953,002691: 25,3267           00006                           EXTEND                                         
024954,002692: 

Page 568

024956,002694: 25,3270           05013                           WOR      CHAN13                                #  RESET ACTIVITY BIT
024957,002695: 25,3271           05270                           TC       RESUME                                
024958,002696: 
024959,002697: 
024960,002698: 25,3272           34747        LRHEIGHT           CAF      BIT5                                  
024961,002699: 25,3273           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024962,002700: 
024963,002701: 25,3274           34743                           CAF      BIT9                                  
024964,002702: 25,3275           03320                           TC       SCALECHK   -1                         
024965,002703: 
024966,002704: 25,3276           34741        RENDRAD            CAF      BIT11                                 #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
024967,002705: 25,3277           70110                           MASK     RADMODES                              #  LIMITS.
024968,002706: 25,3300           10000                           CCS      A                                     
024969,002707: 25,3301           13206                           TCF      BADRAD                                
024970,002708: 
024971,002709: 25,3302           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
024972,002710: 25,3303           74745                           MASK     BIT7                                  
024973,002711: 25,3304           10000                           CCS      A                                     
024974,002712: 25,3305           13206                           TCF      BADRAD                                
024975,002713: 
024976,002714: 25,3306           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
024977,002715: 25,3307           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024978,002716: 
024979,002717: 25,3310           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
024980,002718: 25,3311           00006                           EXTEND                                         
024981,002719: 25,3312           02013                           RAND     CHAN13                                
024982,002720: 25,3313           54002                           TS       Q                                     #  FOR LATER TESTING.
024983,002721: 25,3314           10000                           CCS      A                                     
024984,002722: 25,3315           13317                           TCF      +2                                    
024985,002723: 25,3316           13331                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
024986,002724: 25,3317           34751                           CAF      BIT3                                  
024987,002725: 25,3320           54001                           TS       L                                     
024988,002726: 
024989,002727: 25,3321           00006        SCALECHK           EXTEND                                         
024990,002728: 25,3322           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
024991,002729: 25,3323           56001                           XCH      L                                     
024992,002730: 25,3324           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
024993,002731: 25,3325           00006                           EXTEND                                         
024994,002732: 25,3326           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
024995,002733: 25,3327           10000                           CCS      A                                     
024996,002734: 25,3330           03350                           TC       SCALCHNG                              #  THEY DIFFER
024997,002735: 
024998,002736: 25,3331           34733        RADIN              CAF      POSMAX                                
024999,002737: 25,3332           70046                           MASK     RNRAD                                 
025000,002738: 25,3333           54064                           TS       ITEMP4                                
025001,002739: 
025002,002740: 25,3334           30046                           CAE      RNRAD                                 
025003,002741: 25,3335           60000                           DOUBLE                                         
025004,002742: 25,3336           74753                           MASK     BIT1                                  
025005,002743: 25,3337           54063                           TS       ITEMP3                                
025006,002744: 

Page 569

025008,002746: 25,3340           10002                           CCS      Q                                     #  SEE IF RR RDOT.
025009,002747: 25,3341           13402                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
025010,002748: 
025011,002749: 25,3342           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
025012,002750: 25,3343           42002                           DCS      RDOTBIAS                              
025013,002751: 25,3344           20064        DASAMPL            DAS      ITEMP3                                
025014,002752: 25,3345           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
025015,002753: 25,3346           03443                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
025016,002754: 25,3347           03253                           TC       GOODRAD                               
025017,002755: 
025018,002756: 25,3350           22110        SCALCHNG           LXCH     RADMODES                              
025019,002757: 25,3351           64753                           AD       BIT1                                  
025020,002758: 25,3352           00006                           EXTEND                                         
025021,002759: 25,3353           06001                           RXOR     LCHAN                                 
025022,002760: 25,3354           54110                           TS       RADMODES                              
025023,002761: 25,3355           33147                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
025024,002762: 25,3356           00006                           EXTEND                                         
025025,002763: 25,3357           02033                           RAND     CHAN33                                
025026,002764: 25,3360           55113                           TS       OLDATAGD                              
025027,002765: 25,3361           05504                           TC       UPFLAG                                #  SET RNGSCFLG
025028,002766: 25,3362           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
025029,002767: 25,3363           13206                           TCF      BADRAD                                
025030,002768: 
025031,002769:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
025032,002770: 
025033,002771: 25,3364           40101        R77CHECK           CS       FLAGWRD5                              
025034,002772: 25,3365           74741                           MASK     R77FLBIT                              
025035,002773: 25,3366           10000                           CCS      A                                     
025036,002774: 25,3367           00002                           TC       Q                                     #  NOT R77
025037,002775: 25,3370           43401                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
025038,002776: 25,3371           70110                           MASK     RADMODES                              
025039,002777: 25,3372           54001                           TS       L                                     
025040,002778: 25,3373           33401                           CA       BITS5,8                               
025041,002779: 25,3374           00006                           EXTEND                                         
025042,002780: 25,3375           02033                           RAND     CHAN33                                
025043,002781: 25,3376           60001                           AD       L                                     
025044,002782: 25,3377           54110                           TS       RADMODES                              
025045,002783: 25,3400           03553                           TC       RGOODEND   -2                         
025046,002784: 25,3401           00220        BITS5,8            OCT      220                                   
025047,002785: 

Page 570

025049,002787:                                                                                                  #           THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
025050,002788: 
025051,002789: 25,3402           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
025052,002790: 25,3403           13405                           TCF      +2                                    #  ON HIGH SCALE.
025053,002791: 25,3404           13345                           TCF      DGCHECK2                              
025054,002792: 
025055,002793: 25,3405           31335                           CA       DNINDEX                               
025056,002794: 25,3406           74751                           MASK     BIT3                                  
025057,002795: 25,3407           10000                           CCS      A                                     
025058,002796: 25,3410           13417                           TCF      LRSCK                                 
025059,002797: 
025060,002798: 25,3411           52064                           DXCH     ITEMP3                                
025061,002799: 25,3412           20001                           DDOUBL                                         
025062,002800: 25,3413           20001                           DDOUBL                                         
025063,002801: 25,3414           20001                           DDOUBL                                         
025064,002802: 25,3415           52064                           DXCH     ITEMP3                                
025065,002803: 
025066,002804: 25,3416           13345                           TCF      DGCHECK2                              
025067,002805: 
025068,002806: 25,3417           10063        LRSCK              CCS      ITEMP3                                
025069,002807: 25,3420           13431                           TCF      +11                                   
025070,002808: 25,3421           40064                           CS       ITEMP4                                
025071,002809: 25,3422           63441                           AD       HISCALIM                              
025072,002810: 25,3423           00006                           EXTEND                                         
025073,002811: 25,3424           63431                           BZMF     +5                                    
025074,002812: 
025075,002813: 25,3425           40107                           CS       FLGWRD11                              
025076,002814: 25,3426           74751                           MASK     SCABBIT                               
025077,002815: 25,3427           26107                           ADS      FLGWRD11                              
025078,002816: 25,3430           13434                           TCF      +4                                    
025079,002817: 
025080,002818: 25,3431           44751                           CS       SCABBIT                               
025081,002819: 25,3432           70107                           MASK     FLGWRD11                              
025082,002820: 25,3433           54107                           TS       FLGWRD11                              
025083,002821: 
025084,002822: 25,3434           00006                           EXTEND                                         
025085,002823: 25,3435           30064                           DCA      ITEMP3                                
025086,002824: 25,3436           20001                           DDOUBL                                         
025087,002825: 25,3437           20001                           DDOUBL                                         
025088,002826: 25,3440           13344                           TCF      DASAMPL                               
025089,002827: 
025090,002828: 25,3441           00714        HISCALIM           DEC      460        B-14                       #  2481.7 FT  *****************************
025091,002829: 

Page 571

025093,002831: 25,3442           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
025094,002832: 25,3443           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
025095,002833: 25,3444           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING. IF
025096,002834: 25,3445           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
025097,002835: 25,3446           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
025098,002836: 25,3447           71113                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
025099,002837: 25,3450           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
025100,002838: 25,3451           57113                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
025101,002839: 25,3452           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
025102,002840: 25,3453           60001                           AD       L                                     
025103,002841: 25,3454           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
025104,002842: 25,3455           03263                           TC       RESAMPLE                              
025105,002843: 25,3456           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
025106,002844: 25,3457           21102                           DAS      SAMPLSUM                              #  ACCUMULATION.
025107,002845: 25,3460           00002                           TC       Q                                     
025108,002846: 
025109,002847: 25,3461           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
025110,002848: 25,3462           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
025111,002849: 25,3463           60061                           AD       ITEMP1                                
025112,002850: 25,3464           54110                           TS       RADMODES                              
025113,002851: 
025114,002852: 25,3465           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
025115,002853: 25,3466           53102                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.
025116,002854: 25,3467           03616                           TC       RADLITES                              
025117,002855: 25,3470           13174                           TCF      NOMORE                                
025118,002856: 

Page 572

025120,002858:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
025121,002859: 
025122,002860: 25,2000                                           SETLOC   P20S1                                 
025123,002861: 25,2000                                           BANK                                           
025124,002862: 
025125,002863: 25,3471                                           COUNT*   $$/RSUB                               
025126,002864: 25,3471           00004        LRPOS2             INHINT                                         
025127,002865: 
025128,002866: 25,3472           40110                           CS       RADMODES                              
025129,002867: 25,3473           74746                           MASK     BIT6                                  #  SET BIT6 TO SHOW DESIRED LR POS IS 2
025130,002868: 25,3474           26110                           ADS      RADMODES                              
025131,002869: 
025132,002870: 25,3475           34745                           CAF      BIT7                                  
025133,002871: 25,3476           00006                           EXTEND                                         
025134,002872: 25,3477           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
025135,002873: 25,3500           00006                           EXTEND                                         
025136,002874: 25,3501           13530                           BZF      RADNOOP                               
025137,002875: 
025138,002876: 25,3502           34737                           CAF      BIT13                                 
025139,002877: 25,3503           00006                           EXTEND                                         
025140,002878: 25,3504           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
025141,002879: 25,3505           33545                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
025142,002880: 25,3506           05203                           TC       WAITLIST                              
025143,002881: 25,3507  E7,1454                                  EBANK=   LOSCOUNT                              
025144,002882: 25,3507           03543 52067                     2CADR    LRPOSCAN                              
025145,002883: 
025146,002884: 25,3511           02366                           TC       ROADBACK                              
025147,002885: 
025148,002886: 25,3512           55100        LRPOSNXT           TS       SAMPLIM                               
025149,002887: 25,3513           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
025150,002888: 25,3514           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
025151,002889: 
025152,002890: 25,3515           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
025153,002891: 25,3516           00006                           EXTEND                                         
025154,002892: 25,3517           02033                           RAND     CHAN33                                
025155,002893: 25,3520           00006                           EXTEND                                         
025156,002894: 25,3521           13535                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
025157,002895: 
025158,002896: 25,3522           11100                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
025159,002897: 25,3523           13512                           TCF      LRPOSNXT                              
025160,002898: 
025161,002899: 25,3524           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
025162,002900: 25,3525           00006                           EXTEND                                         
025163,002901: 25,3526           03012                           WAND     CHAN12                                
025164,002902: 25,3527           13562                           TCF      RDBADEND                              
025165,002903: 
025166,002904: 25,3530           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
025167,002905: 25,3531           05203                           TC       WAITLIST                              
025168,002906: 25,3532  E7,1454                                  EBANK=   LOSCOUNT                              
025169,002907: 25,3532           03555 52067                     2CADR    RGOODEND                              
025170,002908: 

Page 573

025172,002910: 25,3534           02366                           TC       ROADBACK                              
025173,002911: 
025174,002912: 25,3535           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
025175,002913: 25,3536           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
025176,002914: 
025177,002915: 25,3537           44737                           CS       BIT13                                 #  REMOVE COMMAND
025178,002916: 25,3540           00006                           EXTEND                                         
025179,002917: 25,3541           03012                           WAND     CHAN12                                
025180,002918: 25,3542           13555                           TCF      RGOODEND                              
025181,002919: 
025182,002920: 25,3543           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
025183,002921: 25,3544           13512                           TCF      LRPOSNXT                              
025184,002922: 
025185,002923: 25,3545           01130        6SECS              DEC      600        B-14                       
025186,002924: 

Page 574

025188,002926:                                                                                                  #           SEQUENCES TO TERMINATE RR OPERATIONS.
025189,002927: 
025190,002928: 25,3546           34745        ENDRADAR           CAF      BIT7                                  #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
025191,002929: 25,3547           70110                           MASK     RADMODES                              
025192,002930: 25,3550           10000                           CCS      A                                     
025193,002931: 25,3551           13555                           TCF      RGOODEND                              
025194,002932: 25,3552           13562                           TCF      RDBADEND                              
025195,002933: 25,3553           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
025196,002934: 25,3554           54734                           TS       RUPTAGN                               
025197,002935: 
025198,002936: 25,3555           34752        RGOODEND           CAF      TWO                                   
025199,002937: 25,3556           04635                           TC       POSTJUMP                              
025200,002938: 25,3557           17640                           CADR     GOODEND                               
025201,002939: 
025202,002940: 25,3560           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
025203,002941: 25,3561           54734                           TS       RUPTAGN                               
025204,002942: 25,3562           34752        RDBADEND           CAF      TWO                                   
025205,002943: 25,3563           04635                           TC       POSTJUMP                              
025206,002944: 25,3564           17635                           CADR     BADEND                                
025207,002945: 
025208,002946: 25,3565     6244               BIN3               EQUALS   THREE                                 
025209,002947: 

Page 575

025211,002949:                                                                                                  #  PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
025212,002950:                                                                                                  #  MOD. NO.  2      BY  J.D. COYNE    SDC    DATE   12-7-66
025213,002951: 
025214,002952: 
025215,002953:                                                                                                  #  FUNCTIONAL DESCRIPTION_
025216,002954: 
025217,002955:                                                                                                  #  1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
025218,002956:                                                                                                  #  2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
025219,002957:                                                                                                  #  3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
025220,002958: 
025221,002959: 
025222,002960:                                                                                                  #  CALLING SEQUENCE       CALL
025223,002961:                                                                                                  #                                LPS20.1
025224,002962: 
025225,002963:                                                                                                  #  SUBROUTINES CALLED_
025226,002964: 
025227,002965:                                                                                                  #  LEMPREC,CSMPREC
025228,002966: 
025229,002967: 
025230,002968:                                                                                                  #  NORMAL EXIT_ RETURN TO CALLER + 2
025231,002969: 
025232,002970: 
025233,002971:                                                                                                  #  ERROR EXITS_ NONE
025234,002972: 
025235,002973: 
025236,002974:                                                                                                  #  ALARMS_ NONE
025237,002975: 
025238,002976: 
025239,002977:                                                                                                  #  OUTPUT_
025240,002978: 
025241,002979:                                                                                                  #  LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
025242,002980:                                                                                                  #  MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
025243,002981:                                                                                                  #  RRNBSW CLEARED
025244,002982: 
025245,002983: 
025246,002984:                                                                                                  #  INITIALIZED ERASEABLE
025247,002985: 
025248,002986:                                                                                                  #  TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
025249,002987:                                                                                                  #  SEE ORBITAL INTEGRATION ROUTINE
025250,002988: 
025251,002989: 
025252,002990:                                                                                                  #  DEBRIS_
025253,002991: 
025254,002992:                                                                                                  #  MPAC DESTROYED BY THIS ROUTINE
025255,002993: 
025256,002994: 23,2275                                           BANK     23                                    
025257,002995: 24,2000                                           SETLOC   P20S                                  
025258,002996: 24,2000                                           BANK                                           
025259,002997: 

Page 576

025261,002999: 24,3151                                           COUNT*   $$/LPS20                              
025262,003000: 
025263,003001: 24,3151           43020        LPS20.1            STQ      BOFF                                  
025264,003002: 24,3152           01757                                    LS21X                                 
025265,003003: 24,3153           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
025266,003004: 24,3154           51160                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
025267,003005: 24,3155           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
025268,003006: 24,3156           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
025269,003007: 24,3157           51170                                    CSMINT                                
025270,003008: 24,3160           77624        LMINT              CALL                                           
025271,003009: 24,3161           27100                                    LEMCONIC                              #  EXTRAPOLATE LEM
025272,003010: 24,3162           77775                           VLOAD                                          
025273,003011: 24,3163           00001                                    RATT                                  
025274,003012: 24,3164           26356                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
025275,003013: 24,3165           00007                                    VATT                                  
025276,003014: 24,3166           16364                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
025277,003015: 24,3167           00015                                    TAT                                   
025278,003016: 24,3170           34041        CSMINT             STCALL   TDEC1                                 
025279,003017: 24,3171           27066                                    CSMCONIC                              #   EXTRAPOLATE CSM
025280,003018: 24,3172           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
025281,003019: 24,3173           00007                                    VATT                                  
025282,003020: 24,3174           02364                                    LMVEL                                 
025283,003021: 24,3175           76521                           MXV      VSL1                                  
025284,003022: 24,3176           01734                                    REFSMMAT                              
025285,003023: 24,3177           77776                           EXIT                                           
025286,003024: 24,3200           00004                           INHINT                                         
025287,003025: 24,3201           06027                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
025288,003026: 24,3202           52602                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
025289,003027: 24,3203           06036                           TC       INTPRET                               
025290,003028: 24,3204           25761                           STOVL    LOSVEL                                
025291,003029: 24,3205           00001                                    RATT                                  
025292,003030: 24,3206           43051                           VSU      BOFF                                  
025293,003031: 24,3207           02356                                    LMPOS                                 
025294,003032: 24,3210           00350                                    RNDVZFLG                              
025295,003033: 24,3211           51217                                    NOTSHIFT                              
025296,003034: 24,3212           77604                           BOVB                                           
025297,003035: 24,3213           57725                                    TCDANZIG                              
025298,003036: 24,3214           41061                           VSL      BOVB                                  
025299,003037: 24,3215           20212                                    9D                                    
025300,003038: 24,3216           50123                                    526ALARM                              
025301,003039: 24,3217           77656        NOTSHIFT           UNIT                                           
025302,003040: 24,3220           76521                           MXV      VSL1                                  
025303,003041: 24,3221           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
025304,003042: 24,3222           15102                           STODL    RRTARGET                              
025305,003043: 24,3223           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
025306,003044: 24,3224           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
025307,003045: 24,3225           77614                           CLRGO                                          
025308,003046: 24,3226           00231                                    RRNBSW                                
025309,003047: 24,3227           01757                                    LS21X                                 
025310,003048: 

Page 577

025312,003050:                                                                                                  #  PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
025313,003051:                                                                                                  #  MOD. NO. 2   BY J.D. COYNE    SDC    DATE  12-7-66
025314,003052: 
025315,003053: 
025316,003054:                                                                                                  #  FUNCTIONAL DESCRIPTION_
025317,003055: 
025318,003056:                                                                                                  #  COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025319,003057: 
025320,003058: 
025321,003059:                                                                                                  #  CALLING SEQUENCE       CALL
025322,003060:                                                                                                  #                                LPS20.2
025323,003061: 
025324,003062: 
025325,003063:                                                                                                  #  SUBROUTINES CALLED_ NONE
025326,003064: 
025327,003065: 
025328,003066:                                                                                                  #  NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025329,003067: 
025330,003068: 
025331,003069:                                                                                                  #  ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025332,003070: 
025333,003071: 
025334,003072:                                                                                                  #  ALARMS_ NONE
025335,003073: 
025336,003074: 
025337,003075:                                                                                                  #  OUTPUT_ NONE
025338,003076: 
025339,003077: 
025340,003078:                                                                                                  #  INITIALIZED ERASEABLE_
025341,003079: 
025342,003080:                                                                                                  #  PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025343,003081:                                                                                                  #  DEBRIS
025344,003082: 
025345,003083:                                                                                                  #  MPAC DESTROYED BY THIS ROUTINE
025346,003084: 
025347,003085: 25,2000                                           SETLOC   P20S1                                 
025348,003086: 25,2000                                           BANK                                           
025349,003087: 25,3565                                           COUNT*   $$/LPS20                              
025350,003088: 
025351,003089: 25,3565           45345        LPS20.2            DLOAD    DSU                                   
025352,003090: 25,3566           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
025353,003091: 25,3567           13600                                    FHNM                                  #  OVER 400NM  _
025354,003092: 25,3570           77644                           BPL                                            
025355,003093: 25,3571           53574                                    TOFAR                                 
025356,003094: 25,3572           43535                           SLOAD    RVQ                                   
025357,003095: 25,3573           06424                                    ZERO/SP                               
025358,003096: 25,3574           43535        TOFAR              SLOAD    RVQ                                   
025359,003097: 25,3575           13577                                    ONE/SP                                
025360,003098: 25,3576           00001        ONE/SP             DEC      1          B-14                       
025361,003099: 

Page 578

025363,003101: 25,3577           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
025364,003102: 

Page 579

025366,003104:                                                                                                  #  PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025367,003105:                                                                                                  #  MOD. NO.: 1       BY:  P. VOLANTE  SDC           DATE:  11-15-66
025368,003106: 
025369,003107: 
025370,003108:                                                                                                  #  FUNCTIONAL DESCRIPTION
025371,003109: 
025372,003110:                                                                                                  #  1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025373,003111:                                                                                                  #  DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025374,003112:                                                                                                  #  RR REPOSITION AND RR CDU FAIL
025375,003113: 
025376,003114:                                                                                                  #  2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025377,003115: 
025378,003116: 
025379,003117:                                                                                                  #  CALLING SEQUENCE: BANKCALL FOR LRS22.1
025380,003118: 
025381,003119: 
025382,003120:                                                                                                  #  SUBROUTINES CALLED:
025383,003121: 
025384,003122:                                                                                                  #         RRRDOT   LPS20.1
025385,003123:                                                                                                  #         RRRANGE  BANKCALL
025386,003124:                                                                                                  #         RADSTALL CDULOGIC
025387,003125:                                                                                                  #         RRNB     SMNB
025388,003126:                                                                                                  #  NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025389,003127: 
025390,003128: 
025391,003129:                                                                                                  #  ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025392,003130: 
025393,003131:                                                                                                  #               00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025394,003132:                                                                                                  #               00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025395,003133: 
025396,003134: 
025397,003135:                                                                                                  #  ALARMS:  521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025398,003136:                                                                                                  #   (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025399,003137: 
025400,003138: 
025401,003139:                                                                                                  #  OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025402,003140:                                                                                                  #          RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025403,003141: 
025404,003142:                                                                                                  #     ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025405,003143: 
025406,003144:                                                                                                  #          RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025407,003145:                                                                                                  #          RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025408,003146:                                                                                                  #          RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025409,003147:                                                                                                  #          AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025410,003148:                                                                                                  #          MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025411,003149: 
025412,003150: 
025413,003151:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
025414,003152: 
025415,003153:                                                                                                  #     RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
025416,003154: 

Page 580

025418,003156:                                                                                                  #      1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025419,003157:                                                                                                  #      2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025420,003158: 
025421,003159:                                                                                                  #     THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025422,003160: 
025423,003161: 
025424,003162:                                                                                                  #  DEBRIS:  LRS22.1X,A,L,Q,PUSHLIST
025425,003163: 
025426,003164: 32,2376                                           BANK     32                                    
025427,003165: 32,2000                                           SETLOC   LRS22                                 
025428,003166: 32,2000                                           BANK                                           
025429,003167: 32,2376                                           COUNT*   $$/LRS22                              
025430,003168: 
025431,003169: 32,2376           04645        LRS22.1            TC       MAKECADR                              
025432,003170: 32,2377           55735                           TS       LRS22.1X                              
025433,003171: 32,2400           05516                           TC       DOWNFLAG                              
025434,003172: 32,2401           00120                           ADRES    RNGSCFLG                              
025435,003173: 32,2402           00004                           INHINT                                         
025436,003174: 32,2403           34751                           CAF      BIT3                                  
025437,003175: 32,2404           00006                           EXTEND                                         #  GET RR RANGE SCALE
025438,003176: 32,2405           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
025439,003177: 32,2406           54001                           TS       L                                     
025440,003178: 32,2407           44751                           CS       BIT3                                  #  AND SET IN RADMODES BIT3
025441,003179: 32,2410           70110                           MASK     RADMODES                              
025442,003180: 32,2411           60001                           AD       L                                     
025443,003181: 32,2412           54110                           TS       RADMODES                              
025444,003182: 32,2413           00003                           RELINT                                         
025445,003183: 32,2414           04616        READRDOT           TC       BANKCALL                              
025446,003184: 32,2415           53103                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
025447,003185: 32,2416           04616                           TC       BANKCALL                              
025448,003186: 32,2417           17667                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
025449,003187: 32,2420           12540                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
025450,003188: 
025451,003189: 32,2421           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
025452,003190: 32,2422           53106                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
025453,003191: 32,2423           53753                           DXCH     MKTIME                                #  TIME OF THE RANGE-RATE READING
025454,003192: 32,2424           53102                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
025455,003193: 32,2425           53745                           DXCH     RDOTMSAV                              
025456,003194: 32,2426           00006                           EXTEND                                         
025457,003195: 32,2427           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
025458,003196: 32,2430           53456                           DXCH     AIG                                   
025459,003197: 32,2431           30032                           CA       CDUX                                  
025460,003198: 32,2432           55457                           TS       AOG                                   
025461,003199: 32,2433           00006                           EXTEND                                         
025462,003200: 32,2434           30025                           DCA      TIME2                                 #   SAVE TIME
025463,003201: 32,2435           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
025464,003202: 32,2436           00006                           EXTEND                                         
025465,003203: 32,2437           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025466,003204: 32,2440           53110                           DXCH     TANG                                  
025467,003205: 

Page 581

025469,003207: 32,2441           00003                           RELINT                                         
025470,003208: 32,2442           04616                           TC       BANKCALL                              
025471,003209: 32,2443           53105                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
025472,003210: 32,2444           04616                           TC       BANKCALL                              
025473,003211: 32,2445           17667                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
025474,003212: 32,2446           02534                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
025475,003213: 32,2447           06036                           TC       INTPRET                               
025476,003214: 32,2450           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
025477,003215: 32,2451           03745                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
025478,003216: 32,2452           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
025479,003217: 32,2453           20217                                    14D                                   #  FT./SECOND PER BIT
025480,003218: 32,2454           24012                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
025481,003219: 32,2455           17747                           STODL    RDOTM                                 #  STORE FOR USE BY LSR22.3
025482,003220: 32,2456           01110                                    TANG                                  
025483,003221: 32,2457           03751                           STORE    TANGNB                                
025484,003222: 32,2460           47135                           SLOAD    RTB                                   
025485,003223: 32,2461           01110                                    TANG                                  #  GET TRUNION ANGLE
025486,003224: 32,2462           21465                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
025487,003225: 32,2463           03732                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
025488,003226: 32,2464           47135                           SLOAD    RTB                                   
025489,003227: 32,2465           01111                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
025490,003228: 32,2466           21465                                    CDULOGIC                              
025491,003229: 32,2467           17734                           STODL    RRSHAFT                               
025492,003230: 32,2470           01102                                    SAMPLSUM                              
025493,003231: 32,2471           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
025494,003232: 32,2472           24014                                    RANGCONV                              #  PER BIT, END WITH METERS,SCALED -29
025495,003233: 32,2473           37755                           STCALL   RM                                    
025496,003234: 32,2474           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
025497,003235: 32,2475           17737                           STODL    RRBORSIT                              #  AND SAVE
025498,003236: 32,2476           00025                                    20D                                   
025499,003237: 32,2477           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
025500,003238: 32,2500           51151                                    LPS20.1                               
025501,003239: 32,2501           77776                           EXIT                                           
025502,003240: 32,2502           31455                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
025503,003241: 32,2503           54766                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
025504,003242: 32,2504           31456                           CA       AMG                                   
025505,003243: 32,2505           54770                           TS       CDUSPOT    +2                         
025506,003244: 32,2506           31457                           CA       AOG                                   
025507,003245: 32,2507           54772                           TS       CDUSPOT    +4                         
025508,003246: 32,2510           06036                           TC       INTPRET                               
025509,003247: 32,2511           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
025510,003248: 32,2512           01102                                    RRTARGET                              
025511,003249: 32,2513           47555                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
025512,003250: 32,2514           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
025513,003251: 32,2515           03737                                    RRBORSIT                              
025514,003252: 32,2516           65552                           SL1      ACOS                                  #  BETWEEN THEM
025515,003253: 32,2517           01046                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
025516,003254: 32,2520           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
025517,003255: 32,2521           24544                                    THREEDEG                              
025518,003256: 32,2522           64527                                    NORMEXIT                              #  YES-NORMAL EXIT
025519,003257: 

Page 582

025521,003259: 
025522,003260: 32,2523           77776                           EXIT                                           #  ERROR EXIT 2
025523,003261: 32,2524           34752                           CAF      BIT2                                  #  SET ERROR CODE
025524,003262: 32,2525           54154                           TS       MPAC                                  
025525,003263: 32,2526           12532                           TCF      OUT22.1                               
025526,003264: 
025527,003265: 32,2527           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT-SET MPAC EQUAL ZERO
025528,003266: 32,2530           34755                           CAF      ZERO                                  
025529,003267: 32,2531           54154                           TS       MPAC                                  
025530,003268: 32,2532           31735        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
025531,003269: 32,2533           04640                           TC       BANKJUMP                              
025532,003270: 32,2534           30101        CHEXERR            CAE      FLAGWRD5                              
025533,003271: 32,2535           74742                           MASK     RNGSCBIT                              
025534,003272: 32,2536           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
025535,003273: 32,2537           12414                           TCF      READRDOT                              #  YES-TAKE ANOTHER READING
025536,003274: 
025537,003275: 32,2540           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
025538,003276: 32,2541           54154                           TS       MPAC                                  
025539,003277: 32,2542           02532                           TC       OUT22.1                               
025540,003278: 32,2543           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES,SCALED  REVS,B0
025541,003279: 32,2545     1101               RRLOSVEC           EQUALS   RRTARGET                              
025542,003280: 

Page 583

025544,003282:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025545,003283: 
025546,003284: 
025547,003285:                                                                                                  #  MOD. NO. : 1       BY: P VOLANTE  SDC           DATE  4-11-67
025548,003286: 
025549,003287:                                                                                                  #  FUNCTIONAL DESCRIPTION-
025550,003288: 

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

025552,003290:                                                                                                  #     2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025553,003291: 
025554,003292: 
025555,003293:                                                                                                  #  CALLING SEQUENCE- BANKCALL FOR LRS22.2
025556,003294: 
025557,003295: 
025558,003296:                                                                                                  #  SUBROUTINES CALLED: G+N,AUTO   SETMAXDB
025559,003297:                                                                                                  #  NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025560,003298: 
025561,003299: 
025562,003300:                                                                                                  #  ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025563,003301: 
025564,003302: 
025565,003303:                                                                                                  #  ALARMS - NONE                                                            IN THE AUTO MODE
025566,003304: 
025567,003305: 
025568,003306:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
025569,003307:                                                                                                  #       RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025570,003308:                                                                                                  #       RM - RR RANGE, METERS B-29, FROM LRS22.1
025571,003309:                                                                                                  #       BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025572,003310: 
025573,003311: 
025574,003312:                                                                                                  #  DEBRIS -  A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025575,003313: 
025576,003314: 24,2000                                           SETLOC   P20S                                  
025577,003315: 24,2000                                           BANK                                           
025578,003316: 24,3230           04645        LRS22.2            TC       MAKECADR                              
025579,003317: 24,3231           55735                           TS       LRS22.1X                              
025580,003318: 24,3232           06036                           TC       INTPRET                               
025581,003319:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF
025582,003320: 24,3233           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
025583,003321: 24,3234           03743                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
025584,003322:                                                                                                  #  LOS VECTOR,A HALF UNIT VECTOR
025585,003323:                                                                                                  #  IN NAV BASE AXES)
025586,003324: 24,3235           50025                           DSU      BMN                                   
025587,003325: 24,3236           11252                                    30DEG                                 
025588,003326: 24,3237           51244                                    OKEXIT                                #  NORMAL EXIT-WITHIN 30 DEG.
025589,003327: 24,3240           77776                           EXIT                                           #  ERROR EXIT-NOT WITHIN 30 DEG.
025590,003328: 24,3241           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
025591,003329: 24,3242           54154                           TS       MPAC                                  
025592,003330: 24,3243           13247                           TCF      OUT22.2                               
025593,003331: 24,3244           77776        OKEXIT             EXIT                                           #  NORMAL EXIT-SET MPAC = ZERO
025594,003332: 

Page 584

025596,003334: 24,3245           34755                           CAF      ZERO                                  
025597,003335: 24,3246           54154                           TS       MPAC                                  
025598,003336: 24,3247           31735        OUT22.2            CAE      LRS22.1X                              
025599,003337: 24,3250           04640                           TC       BANKJUMP                              
025600,003338: 
025601,003339: 24,3251           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES,SCALED REVS,B0
025602,003340: 

Page 585

025604,003342:                                                                                                  #  PROGRAM NAME - LSR22.3                                                  DATE - 29 MAY 1967
025605,003343:                                                                                                  #  MOD. NO 3                                                               LOG SECTION - P20-25
025606,003344:                                                                                                  #  MOD. BY - DANFORTH                                                      ASSEMBLY LEMP20S REV 10
025607,003345: 
025608,003346:                                                                                                  #  FUNCTIONAL DESCRIPTION
025609,003347: 
025610,003348:                                                                                                  #  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025611,003349:                                                                                                  #  RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025612,003350:                                                                                                  #  WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025613,003351: 
025614,003352:                                                                                                  #  CALLING SEQUENCE
025615,003353:                                                                                                  #  THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
025616,003354:                                                                                                  #  R22LEM  ONLY AND RETURNS DIRECTLY TO R22LEM  FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025617,003355:                                                                                                  #  COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM  TO DISPLAY
025618,003356:                                                                                                  #  THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM  RETURNS TO    LSR22.3 TO INCORPORATE THE
025619,003357:                                                                                                  #  DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025620,003358:                                                                                                  #  PROCESSED FOR THIS MARK,I.E.,R22LEM  GETS THE NEXT MARK.
025621,003359: 
025622,003360: 
025623,003361:                                                                                                  #  SUBROUTINES CALLED
025624,003362:                                                                                                  #   WLINIT     LGCUPDTE     INTEGRV     INCORP1     ARCTAN
025625,003363:                                                                                                  #   GETULC     RARARANG     INCORP2     NBSM        INTSTALL
025626,003364: 
025627,003365:                                                                                                  #  OUTPUT
025628,003366:                                                                                                  #   CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025629,003367:                                                                                                  #   NUMBER OF MARKS INCORPORATED IN MARKCTR
025630,003368:                                                                                                  #   MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025631,003369:                                                                                                  #   MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025632,003370:                                                                                                  #   UPDATED W-MATRIX
025633,003371: 
025634,003372: 
025635,003373:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025636,003374:                                                                                                  #   LM AND CSM STATE VECTORS
025637,003375:                                                                                                  #   W-MATRIX
025638,003376:                                                                                                  #   MARK TIME IN MKTIME
025639,003377:                                                                                                  #   RADAR RANGE IN RM METERS B-29
025640,003378:                                                                                                  #         RANGE RATE IN RDOTM METERS/CSES B-7
025641,003379:                                                                                                  #         SHAFT ANGLE IN RRSHAFT REVS.B0
025642,003380:                                                                                                  #         TRUNNION ANGLE IN RRTRUN REVS. B0
025643,003381:                                                                                                  #   GIMBAL ANGLES  INNER IN AIG
025644,003382:                                                                                                  #                  MIDDLE IN AMG
025645,003383:                                                                                                  #                  OUTER IN AOG
025646,003384:                                                                                                  #   REFSMMAT
025647,003385:                                                                                                  #   RENDWFLG
025648,003386:                                                                                                  #   NOANGFLG
025649,003387:                                                                                                  #   VEHUPFLG
025650,003388: 
025651,003389:                                                                                                  #  DEBRIS
025652,003390:                                                                                                  #   PUSHLIST--ALL
025653,003391:                                                                                                  #   MX, MY, MZ  (VECTORS)
025654,003392: 

Page 586

025656,003394:                                                                                                  #   ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
025657,003395: 
025658,003396: 13,2207                                           BANK     13                                    
025659,003397: 26,2000                                           SETLOC   P20S3                                 
025660,003398: 26,2000                                           BANK                                           
025661,003399: 
025662,003400: 26,2370  E7,1454                                  EBANK=   LOSCOUNT                              
025663,003401: 26,2370                                           COUNT*   $$/LSR22                              
025664,003402: 26,2370           77624        LSR22.3            CALL                                           
025665,003403: 26,2371           11165                                    GRP2PC                                
025666,003404: 26,2372           43014                           BON      SET                                   
025667,003405: 26,2373           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
025668,003406: 26,2374           55143                                    LSR22.4                               #  YES
025669,003407: 26,2375           02466                                    DMENFLG                               
025670,003408: 26,2376           45014                           BOFF     CALL                                  
025671,003409: 26,2377           00747                                    VEHUPFLG                              
025672,003410: 26,2400           54432                                    DOLEM                                 
025673,003411: 26,2401           27412                                    INTSTALL                              
025674,003412: 26,2402           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
025675,003413: 26,2403           01674                                    VINTFLAG                              
025676,003414: 26,2404           26644                                    SETIFLGS                              
025677,003415: 26,2405           77624                           CALL                                           
025678,003416: 26,2406           55205                                    INTGRCAL                              
025679,003417: 26,2407           77624                           CALL                                           
025680,003418: 26,2410           11165                                    GRP2PC                                
025681,003419: 26,2411           77624                           CALL                                           
025682,003420: 26,2412           27412                                    INTSTALL                              
025683,003421: 26,2413           43014                           CLEAR    BOFF                                  
025684,003422: 26,2414           01676                                    DIM0FLAG                              
025685,003423: 26,2415           02756                                    RENDWFLG                              
025686,003424: 26,2416           54422                                    NOTWCSM                               
025687,003425: 26,2417           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
025688,003426: 26,2420           01476                                    DIM0FLAG                              
025689,003427: 26,2421           01475                                    D6OR9FLG                              
025690,003428: 26,2422           43014        NOTWCSM            SET      CLEAR                                 
025691,003429: 26,2423           01474                                    VINTFLAG                              
025692,003430: 26,2424           01673                                    INTYPFLG                              
025693,003431: 26,2425           45014                           SET      CALL                                  
025694,003432: 26,2426           01472                                    STATEFLG                              
025695,003433: 26,2427           55205                                    INTGRCAL                              
025696,003434: 26,2430           77650                           GOTO                                           
025697,003435: 26,2431           54462                                    MARKTEST                              
025698,003436: 26,2432           77624        DOLEM              CALL                                           
025699,003437: 26,2433           27412                                    INTSTALL                              
025700,003438: 26,2434           45014                           SET      CALL                                  
025701,003439: 26,2435           01474                                    VINTFLAG                              
025702,003440: 26,2436           26644                                    SETIFLGS                              
025703,003441: 26,2437           77624                           CALL                                           
025704,003442: 26,2440           55205                                    INTGRCAL                              
025705,003443: 

Page 587

025707,003445: 26,2441           77624                           CALL                                           
025708,003446: 26,2442           11165                                    GRP2PC                                
025709,003447: 26,2443           77624                           CALL                                           
025710,003448: 26,2444           27412                                    INTSTALL                              
025711,003449: 26,2445           43014                           CLEAR    BOFF                                  
025712,003450: 26,2446           01676                                    DIM0FLAG                              
025713,003451: 26,2447           02756                                    RENDWFLG                              
025714,003452: 26,2450           54454                                    NOTWLEM                               
025715,003453: 26,2451           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
025716,003454: 26,2452           01476                                    DIM0FLAG                              
025717,003455: 26,2453           01475                                    D6OR9FLG                              
025718,003456: 26,2454           43014        NOTWLEM            CLEAR    CLEAR                                 
025719,003457: 26,2455           01673                                    INTYPFLG                              
025720,003458: 26,2456           01674                                    VINTFLAG                              
025721,003459: 26,2457           45014                           SET      CALL                                  
025722,003460: 26,2460           01472                                    STATEFLG                              
025723,003461: 26,2461           55205                                    INTGRCAL                              
025724,003462: 26,2462           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
025725,003463: 26,2463           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
025726,003464: 26,2464           54474                                    RANGEBQ                               
025727,003465: 26,2465           55214                                    WLINIT                                #  YES - REINITIALIZE
025728,003466: 26,2466           77776                           EXIT                                           
025729,003467: 26,2467           34755                           CA       ZERO                                  
025730,003468: 26,2470           55743                           TS       R65CNTR                               
025731,003469: 26,2471           04616                           TC       BANKCALL                              
025732,003470: 26,2472           46105                           CADR     R65LEM                                
025733,003471: 26,2473           06036                           TC       INTPRET                               
025734,003472: 26,2474           43174        RANGEBQ            AXT,2    BON                                   #  CLEAR X2.
025735,003473: 26,2475           00000                                    0                                     
025736,003474: 26,2476           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
025737,003475: 26,2477           54502                                    SETX2                                 #  YES. STORE ZERO IN SCALSHFT REGISTER
025738,003476: 26,2500           77714                           INCR,2                                         
025739,003477: 26,2501           00002                                    2                                     
025740,003478: 26,2502           45134        SETX2              SXA,2    CALL                                  
025741,003479: 26,2503           03716                                    SCALSHFT                              #  0-MOON. 2-EARTH
025742,003480: 26,2504           11165                                    GRP2PC                                
025743,003481: 26,2505           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
025744,003482: 26,2506           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION    (B-40)
025745,003483: 26,2507           20635                                    28D                                   
025746,003484: 26,2510           77634                           RTB                                            
025747,003485: 26,2511           21537                                    TPMODE                                #  AND SAVE IN 20D
025748,003486: 26,2512           00025                           STORE    20D                                   
025749,003487: 26,2513           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS, DELTAQ
025750,003488: 26,2514           55276                                    GETULC                                #  B-VECTORS FOR RANGE
025751,003489: 26,2515           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
025752,003490: 26,2516           00707                                    VEHUPFLG                              
025753,003491: 26,2517           54520                                    +1                                    
025754,003492: 26,2520           27523                           STOVL    BVECTOR                               
025755,003493: 26,2521           06424                                    ZEROVECS                              
025756,003494: 26,2522           03531                           STORE    BVECTOR    +6                         #  B1
025757,003495: 

Page 588

025759,003497: 26,2523           17537                           STODL    BVECTOR    +12D                       #  B2
025760,003498: 26,2524           00045                                    36D                                   
025761,003499: 26,2525           44257                           SRR*     BDSU                                  
025762,003500: 26,2526           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
025763,003501: 26,2527           03755                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
025764,003502: 26,2530           77657                           SLR*                                           
025765,003503: 26,2531           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
025766,003504: 26,2532           17545                           STODL    DELTAQ                                #  EARTH B-29. MOON B-27
025767,003505: 26,2533           00045                                    36D                                   #  RLC B-29/B-27
025768,003506: 26,2534           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
025769,003507: 26,2535           00047                                    X1                                    
025770,003508: 26,2536           53605                           DMP      SR*                                   
025771,003509: 26,2537           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR(B12) THEN
025772,003510: 26,2540           20577                                    0          -2,1                       #  UNNORMALIZE
025773,003511: 26,2541           53657                           SR*      SR*                                   
025774,003512: 26,2542           20601                                    0,1                                   
025775,003513: 26,2543           57176                                    0,2                                   
025776,003514: 26,2544           47057                           SR*      RTB                                   
025777,003515: 26,2545           57176                                    0,2                                   
025778,003516: 26,2546           21537                                    TPMODE                                
025779,003517: 26,2547           02707                           STORE    VARIANCE                              #  B-40
025780,003518: 26,2550           76276                           DCOMP    TAD                                   
025781,003519: 26,2551           00025                                    20D                                   #    B-40
025782,003520: 26,2552           72240                           BMN      TLOAD                                 
025783,003521: 26,2553           54556                                    QOK                                   
025784,003522: 26,2554           00025                                    20D                                   #    B-40
025785,003523: 26,2555           02707                           STORE    VARIANCE                              
025786,003524: 26,2556           77624        QOK                CALL                                           
025787,003525: 26,2557           55344                                    LGCUPDTE                              
025788,003526: 
025789,003527: 26,2560           77624                           CALL                                           
025790,003528: 26,2561           11165                                    GRP2PC                                
025791,003529: 26,2562           77624                           CALL                                           #  B-VECTOR,DELTAQ FOR RANGE RATE
025792,003530: 26,2563           55276                                    GETULC                                
025793,003531: 26,2564           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
025794,003532: 26,2565           00045                                    36D                                   #  AND SHIFT TO B-23
025795,003533: 26,2566           57202                                    0          -4,2                       
025796,003534: 26,2567           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
025797,003535: 26,2570           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
025798,003536: 26,2571           00707                                    VEHUPFLG                              
025799,003537: 26,2572           54573                                    +1                                    
025800,003538: 26,2573           77761                           VXSC                                           
025801,003539: 26,2574           00045                                    36D                                   #  B1 = RLC (B-24/B-22)
025802,003540: 26,2575           27531                           STOVL    BVECTOR    +6                         
025803,003541: 26,2576           01653                                    NUVLEM                                
025804,003542: 26,2577           53257                           VSR*     VAD                                   
025805,003543: 26,2600           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
025806,003544: 26,2601           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
025807,003545: 26,2602           53715                           PDVL     VSR*                                  #  VL TO PD6
025808,003546: 26,2603           01601                                    NUVCSM                                
025809,003547: 

Page 589

025811,003549: 26,2604           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
025812,003550: 26,2605           52255                           VAD      VSU                                   
025813,003551: 26,2606           01615                                    VCVCSM                                
025814,003552: 26,2607           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
025815,003553: 26,2610           00001                                    0                                     
025816,003554: 26,2611           00007                                    6                                     
025817,003555: 26,2612           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
025818,003556: 26,2613           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
025819,003557: 26,2614           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
025820,003558: 26,2615           01773                                    RATEVAR                               
025821,003559: 26,2616           02707                           STORE    VARIANCE                              
025822,003560: 26,2617           54335                           SLOAD    SR                                    
025823,003561: 26,2620           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
025824,003562: 26,2621           20621                                    16D                                   #  SHIFT TO DP (B -4)
025825,003563: 26,2622           00031                           STORE    24D                                   #  AND SAVE IN 24D
025826,003564: 26,2623           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
025827,003565: 26,2624           02707                                    VARIANCE                              
025828,003566: 26,2625           54631                                    VOK                                   #  BRANCH - NO
025829,003567: 26,2626           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
025830,003568: 26,2627           00031                                    24D                                   
025831,003569: 26,2630           02707                           STORE    VARIANCE                              
025832,003570: 26,2631           60545        VOK                DLOAD    SR2                                   #  RDOT(PD12) FROM B-8/B-6
025833,003571: 26,2632           53725                           PDDL     SLR*                                  #  TO B-10/B-8
025834,003572: 26,2633           03747                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
025835,003573: 26,2634           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
025836,003574: 26,2635           77625                           DSU                                            
025837,003575: 26,2636           77675                           DMPR                                           
025838,003576: 26,2637           00045                                    36D                                   
025839,003577: 26,2640           27545                           STOVL    DELTAQ                                #    B-33
025840,003578: 26,2641           00001                                    0                                     #  NOW GET B0
025841,003579: 26,2642           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
025842,003580: 26,2643           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
025843,003581: 26,2644           00707                                    VEHUPFLG                              
025844,003582: 26,2645           54646                                    +1                                    
025845,003583: 26,2646           77657                           VSR*                                           
025846,003584: 26,2647           57200                                    0          -2,2                       #  SCALED B-5
025847,003585: 26,2650           27523                           STOVL    BVECTOR                               
025848,003586: 26,2651           06424                                    ZEROVECS                              
025849,003587: 26,2652           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
025850,003588: 26,2653           27537                           STOVL    BVECTOR    +12D                       
025851,003589: 26,2654           03523                                    BVECTOR                               
025852,003590: 26,2655           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
025853,003591: 26,2656           00025                                    20D                                   #  SHIFT COUNT IN 20D
025854,003592: 26,2657           51575                           VLOAD    ABVAL                                 
025855,003593: 26,2660           03531                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
025856,003594: 26,2661           71301                           NORM     DLOAD                                 
025857,003595: 26,2662           00027                                    22D                                   #  SHIFT COUNT IN 22D
025858,003596: 26,2663           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
025859,003597: 26,2664           50025                           DSU      BMN                                   #  BRANCH- B0 HAS SMALLER SHIFT COUNT
025860,003598: 26,2665           00025                                    20D                                   
025861,003599: 

Page 590

025863,003601: 26,2666           54672                                    VOK1                                  
025864,003602: 26,2667           52150                           LXA,1    GOTO                                  
025865,003603: 26,2670           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
025866,003604: 26,2671           54674                                    VOK2                                  
025867,003605: 26,2672           77750        VOK1               LXA,1                                          
025868,003606: 26,2673           00024                                    20D                                   
025869,003607: 26,2674           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0,B1,DELTAQ AND VARIANCE
025870,003608: 26,2675           03523                                    BVECTOR                               #  WITH THI SSHIFT COUNT
025871,003609: 26,2676           20201                                    0,1                                   
025872,003610: 26,2677           27523                           STOVL    BVECTOR                               
025873,003611: 26,2700           03531                                    BVECTOR    +6                         
025874,003612: 26,2701           77657                           VSL*                                           
025875,003613: 26,2702           20201                                    0,1                                   
025876,003614: 26,2703           17531                           STODL    BVECTOR    +6                         
025877,003615: 26,2704           03545                                    DELTAQ                                
025878,003616: 26,2705           77657                           SL*                                            
025879,003617: 26,2706           20201                                    0,1                                   
025880,003618: 26,2707           03545                           STORE    DELTAQ                                
025881,003619: 26,2710           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
025882,003620: 26,2711           00045                                    36D                                   
025883,003621: 26,2712           20200                                    0          -1,1                       
025884,003622: 26,2713           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
025885,003623: 26,2714           02707                                    VARIANCE                              
025886,003624: 26,2715           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025887,003625: 26,2716           21537                                    TPMODE                                
025888,003626: 26,2717           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
025889,003627: 26,2720           55344                                    LGCUPDTE                              
025890,003628: 
025891,003629: 26,2721           77624                           CALL                                           
025892,003630: 26,2722           11165                                    GRP2PC                                
025893,003631: 26,2723           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
025894,003632: 26,2724           04307                                    SURFFLAG                              
025895,003633: 26,2725           55141                                    RENDEND                               #  NO
025896,003634: 26,2726  E7,1455                                  EBANK=   AIG                                   
025897,003635: 26,2726           33275        MXMYMZ             CAF      AIGBANK                               
025898,003636: 26,2727           54006                           TS       BBANK                                 
025899,003637: 26,2730           31455                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
025900,003638: 26,2731           54766                           TS       CDUSPOT                               
025901,003639: 26,2732           31456                           CA       AMG                                   
025902,003640: 26,2733           54770                           TS       CDUSPOT    +2                         
025903,003641: 26,2734           31457                           CA       AOG                                   
025904,003642: 26,2735           54772                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025905,003643: 26,2736           06036                           TC       INTPRET                               
025906,003644: 26,2737           45175                           VLOAD    CALL                                  
025907,003645: 26,2740           06422                                    UNITX                                 
025908,003646: 26,2741           47570                                    TRG*NBSM                              
025909,003647: 26,2742           76505                           VXM      VSL1                                  
025910,003648: 26,2743           01734                                    REFSMMAT                              
025911,003649: 26,2744           27675                           STOVL    MX                                    
025912,003650: 26,2745           06420                                    UNITY                                 
025913,003651: 

Page 591

025915,003653: 26,2746           77624                           CALL                                           
025916,003654: 26,2747           47577                                    *NBSM*                                
025917,003655: 26,2750           76505                           VXM      VSL1                                  
025918,003656: 26,2751           01734                                    REFSMMAT                              
025919,003657: 26,2752           27703                           STOVL    MY                                    
025920,003658: 26,2753           06416                                    UNITZ                                 
025921,003659: 26,2754           77624                           CALL                                           
025922,003660: 26,2755           47577                                    *NBSM*                                
025923,003661: 26,2756           76505                           VXM      VSL1                                  
025924,003662: 26,2757           01734                                    REFSMMAT                              
025925,003663: 26,2760           37711        SHAFTBQ            STCALL   MZ                                    
025926,003664: 26,2761           55324                                    RADARANG                              
025927,003665: 26,2762           77624                           CALL                                           
025928,003666: 26,2763           11165                                    GRP2PC                                
025929,003667: 26,2764           50375                           VLOAD    DOT                                   #  COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025930,003668: 26,2765           03722                                    ULC                                   
025931,003669: 26,2766           03675                                    MX                                    
025932,003670: 26,2767           77752                           SL1                                            
025933,003671: 26,2770           24023                           STOVL    SINTH                                 #  18D
025934,003672: 26,2771           03722                                    ULC                                   
025935,003673: 26,2772           72441                           DOT      SL1                                   
025936,003674: 26,2773           03711                                    MZ                                    
025937,003675: 26,2774           34021                           STCALL   COSTH                                 #  16D
025938,003676: 26,2775           26510                                    ARCTAN                                
025939,003677: 26,2776           41221                           BDSU     DMP                                   
025940,003678: 26,2777           03734                                    RRSHAFT                               
025941,003679: 26,3000           15404                                    2PI/8                                 
025942,003680: 26,3001           41472                           SL3R     PUSH                                  
025943,003681: 26,3002           52545                           DLOAD    SL3                                   
025944,003682: 26,3003           01701                                    X789                                  
025945,003683: 26,3004           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025946,003684: 26,3005           56176                                    0,2                                   
025947,003685: 26,3006           53605                           DMP      SRR*                                  
025948,003686: 26,3007           03720                                    RXZ                                   
025949,003687: 26,3010           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025950,003688: 26,3011           27545                           STOVL    DELTAQ                                #  EARTH B-29. MOON B-27
025951,003689: 26,3012           03722                                    ULC                                   
025952,003690: 26,3013           76435                           VXV      VSL1                                  
025953,003691: 26,3014           03703                                    MY                                    
025954,003692: 26,3015           77656                           UNIT                                           
025955,003693: 26,3016           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025956,003694: 26,3017           00747                                    VEHUPFLG                              
025957,003695: 26,3020           55021                                    +1                                    
025958,003696: 26,3021           27523                           STOVL    BVECTOR                               
025959,003697: 26,3022           06424                                    ZEROVECS                              
025960,003698: 26,3023           03531                           STORE    BVECTOR    +6                         
025961,003699: 26,3024           17537                           STODL    BVECTOR    +12D                       
025962,003700: 26,3025           03720                                    RXZ                                   
025963,003701: 26,3026           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025964,003702: 26,3027           20577                                    0          -2,1                       
025965,003703: 

Page 592

025967,003705: 26,3030           56176                                    0,2                                   
025968,003706: 26,3031           03537                           STORE    BVECTOR    +12D                       
025969,003707: 26,3032           77735                           SLOAD                                          
025970,003708: 26,3033           02011                                    SHAFTVAR                              
025971,003709: 26,3034           41215                           DAD      DMP                                   
025972,003710: 26,3035           15401                                    IMUVAR                                #  RAD**2 B12
025973,003711: 26,3036           03720                                    RXZ                                   
025974,003712: 26,3037           41257                           SRR*     DMP                                   
025975,003713: 26,3040           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025976,003714: 26,3041           03720                                    RXZ                                   
025977,003715: 26,3042           53657                           SR*      SR*                                   
025978,003716: 26,3043           20577                                    0          -2,1                       
025979,003717: 26,3044           57176                                    0,2                                   
025980,003718: 26,3045           47057                           SR*      RTB                                   
025981,003719: 26,3046           57176                                    0,2                                   
025982,003720: 26,3047           21537                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025983,003721: 26,3050           36707                           STCALL   VARIANCE                              #  B-40
025984,003722: 26,3051           55344                                    LGCUPDTE                              
025985,003723: 
025986,003724: 26,3052           77624                           CALL                                           
025987,003725: 26,3053           11165                                    GRP2PC                                
025988,003726: 26,3054           77624        TRUNBQ             CALL                                           
025989,003727: 26,3055           55324                                    RADARANG                              
025990,003728: 26,3056           77624                           CALL                                           
025991,003729: 26,3057           11165                                    GRP2PC                                
025992,003730: 26,3060           47375                           VLOAD    VXV                                   
025993,003731: 26,3061           03722                                    ULC                                   
025994,003732: 26,3062           03703                                    MY                                    
025995,003733: 26,3063           47372                           VSL1     VXV                                   
025996,003734: 26,3064           03722                                    ULC                                   
025997,003735: 26,3065           77772                           VSL1                                           #  (ULC X MY) X ULC
025998,003736: 26,3066           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025999,003737: 26,3067           00747                                    VEHUPFLG                              
026000,003738: 26,3070           55071                                    +1                                    
026001,003739: 26,3071           27523                           STOVL    BVECTOR                               
026002,003740: 26,3072           06424                                    ZEROVECS                              
026003,003741: 26,3073           03531                           STORE    BVECTOR    +6                         
026004,003742: 26,3074           17537                           STODL    BVECTOR    +12D                       
026005,003743: 26,3075           03720                                    RXZ                                   
026006,003744: 26,3076           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
026007,003745: 26,3077           20577                                    0          -2,1                       
026008,003746: 26,3100           56176                                    0,2                                   
026009,003747: 26,3101           03541                           STORE    BVECTOR    +14D                       
026010,003748: 26,3102           77735                           SLOAD                                          
026011,003749: 26,3103           02012                                    TRUNVAR                               
026012,003750: 26,3104           41215                           DAD      DMP                                   
026013,003751: 26,3105           15401                                    IMUVAR                                
026014,003752: 26,3106           03720                                    RXZ                                   
026015,003753: 26,3107           41257                           SRR*     DMP                                   
026016,003754: 26,3110           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
026017,003755: 

Page 593

026019,003757: 26,3111           03720                                    RXZ                                   
026020,003758: 26,3112           53657                           SR*      SR*                                   
026021,003759: 26,3113           20577                                    0          -2,1                       
026022,003760: 26,3114           57176                                    0,2                                   
026023,003761: 26,3115           47057                           SR*      RTB                                   
026024,003762: 26,3116           57176                                    0,2                                   
026025,003763: 26,3117           21537                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
026026,003764: 26,3120           16707                           STODL    VARIANCE                              
026027,003765: 26,3121           03730                                    SINTHETA                              
026028,003766: 26,3122           44336                           ASIN     BDSU                                  #  SIN THETA IN PD6
026029,003767: 26,3123           03732                                    RRTRUN                                
026030,003768: 26,3124           56405                           DMP      SL3R                                  
026031,003769: 26,3125           15404                                    2PI/8                                 
026032,003770: 26,3126           52525                           PDDL     SL3                                   
026033,003771: 26,3127           01703                                    X789       +2                         
026034,003772: 26,3130           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
026035,003773: 26,3131           56176                                    0,2                                   
026036,003774: 26,3132           53605                           DMP      SRR*                                  
026037,003775: 26,3133           03720                                    RXZ                                   
026038,003776: 26,3134           21601                                    0,1                                   
026039,003777: 26,3135           37545                           STCALL   DELTAQ                                #  EARTH B-29. MOON B-27
026040,003778: 26,3136           55344                                    LGCUPDTE                              
026041,003779: 26,3137           77624                           CALL                                           
026042,003780: 26,3140           11165                                    GRP2PC                                
026043,003781: 26,3141           77650        RENDEND            GOTO                                           
026044,003782: 26,3142           50614                                    R22LEM93                              
026045,003783:                                                                                                  #  FUNCTIONAL DESCRIPTION
026046,003784: 
026047,003785:                                                                                                  #  LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
026048,003786:                                                                                                  #  COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
026049,003787:                                                                                                  #  AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
026050,003788: 
026051,003789:                                                                                                  #  SUBROUTINES CALLED
026052,003790:                                                                                                  #   INSTALL   LGCUPDTE  INCORP1   RP-TO-R
026053,003791:                                                                                                  #   INTEGRV   GETULC    INCORP2
026054,003792: 
026055,003793:                                                                                                  #  OUTPUT
026056,003794:                                                                                                  #   CORRECTED CSM STATE VECTOR (PERMANENT)
026057,003795:                                                                                                  #   NUMBER OF MARKS INCORPORATED IN MARKCTR
026058,003796:                                                                                                  #   MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
026059,003797:                                                                                                  #   MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
026060,003798:                                                                                                  #   UPDATED W-MATRIX
026061,003799: 
026062,003800:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
026063,003801:                                                                                                  #   LM AND CSM STATE VECTORS
026064,003802:                                                                                                  #   W-MATRIX
026065,003803:                                                                                                  #   MARK TIME IN MKTIME
026066,003804:                                                                                                  #   RADAR RANGE IN RM METERS B-29
026067,003805:                                                                                                  #         RANGE RATE IN RDOTM METERS/CSEC B-7
026068,003806:                                                                                                  #   VEHUPFLG
026069,003807: 

Page 594

026071,003809: 26,3143           77624        LSR22.4            CALL                                           
026072,003810: 26,3144           27412                                    INTSTALL                              
026073,003811: 26,3145           43014                           SET      CLEAR                                 
026074,003812: 26,3146           01472                                    STATEFLG                              
026075,003813: 26,3147           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
026076,003814: 26,3150           77624                           CALL                                           
026077,003815: 26,3151           55205                                    INTGRCAL                              
026078,003816: 26,3152           77624                           CALL                                           
026079,003817: 26,3153           11165                                    GRP2PC                                
026080,003818: 26,3154           45014                           CLEAR    CALL                                  
026081,003819: 26,3155           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
026082,003820: 26,3156           27412                                    INTSTALL                              
026083,003821: 26,3157           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
026084,003822: 26,3160           03461                                    MARKCTR                               
026085,003823: 26,3161           55174                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
026086,003824: 26,3162           43014                           CLEAR    SET                                   
026087,003825: 26,3163           01675                                    D6OR9FLG                              
026088,003826: 26,3164           01476                                    DIM0FLAG                              
026089,003827: 26,3165           43014                           SET      CLEAR                                 
026090,003828: 26,3166           01474                                    VINTFLAG                              
026091,003829: 26,3167           01673                                    INTYPFLG                              
026092,003830: 26,3170           77624                           CALL                                           
026093,003831: 26,3171           55205                                    INTGRCAL                              
026094,003832: 26,3172           77650                           GOTO                                           
026095,003833: 26,3173           54474                                    RANGEBQ                               
026096,003834: 
026097,003835: 26,3174           77624        INITWMX6           CALL                                           
026098,003836: 26,3175           55214                                    WLINIT                                #  INITIALIZE W-MATRIX
026099,003837: 26,3176           45014                           SET      CALL                                  
026100,003838: 26,3177           01474                                    VINTFLAG                              
026101,003839: 26,3200           26644                                    SETIFLGS                              
026102,003840: 26,3201           77624                           CALL                                           
026103,003841: 26,3202           55205                                    INTGRCAL                              
026104,003842: 26,3203           77650                           GOTO                                           
026105,003843: 26,3204           54474                                    RANGEBQ                               
026106,003844: 
026107,003845:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
026108,003846: 
026109,003847: 26,3205           71220        INTGRCAL           STQ      DLOAD                                 
026110,003848: 26,3206           03673                                    IGRET                                 
026111,003849: 26,3207           03753                                    MKTIME                                
026112,003850: 26,3210           34041                           STCALL   TDEC1                                 
026113,003851: 26,3211           27134                                    INTEGRV                               
026114,003852: 26,3212           77650                           GOTO                                           
026115,003853: 26,3213           03673                                    IGRET                                 
026116,003854: 
026117,003855:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
026118,003856:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
026119,003857: 
026120,003858: 26,3214  E5,1400                                  EBANK=   W                                     
026121,003859: 

Page 595

026123,003861: 26,3214           77776        WLINIT             EXIT                                           
026124,003862: 26,3215           33274                           CAF      WBANK                                 
026125,003863: 26,3216           54006                           TS       BBANK                                 
026126,003864: 26,3217           33402                           CAF      WSIZE                                 
026127,003865: 26,3220           55257                           TS       W.IND                                 
026128,003866: 26,3221           34755                           CAF      ZERO                                  
026129,003867: 26,3222           51257                           INDEX    W.IND                                 
026130,003868: 26,3223           55400                           TS       W                                     
026131,003869: 26,3224           11257                           CCS      W.IND                                 
026132,003870: 26,3225           03220                           TC       -5                                    
026133,003871: 26,3226           33275                           CAF      AIGBANK                               #  RESTORE EBANK 7
026134,003872: 26,3227           54006                           TS       BBANK                                 
026135,003873: 26,3230           06036                           TC       INTPRET                               
026136,003874: 26,3231           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE,INITIALIZE WITH
026137,003875: 26,3232           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
026138,003876: 26,3233           55237                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
026139,003877: 26,3234           02001                                    WRENDPOS                              
026140,003878: 26,3235           77650                           GOTO                                           
026141,003879: 26,3236           55241                                    WPOSTORE                              
026142,003880: 26,3237           77735        WLSRFPOS           SLOAD                                          
026143,003881: 26,3240           02007                                    WSURFPOS                              
026144,003882: 26,3241           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
026145,003883: 26,3242           20606                                    5                                     
026146,003884: 26,3243           02401                           STORE    W                                     
026147,003885: 26,3244           02411                           STORE    W          +8D                        
026148,003886: 26,3245           02421                           STORE    W          +16D                       
026149,003887: 26,3246           67214                           BON      SLOAD                                 
026150,003888: 26,3247           04307                                    SURFFLAG                              
026151,003889: 26,3250           55254                                    WLSRFVEL                              
026152,003890: 26,3251           02002                                    WRENDVEL                              
026153,003891: 26,3252           77650                           GOTO                                           
026154,003892: 26,3253           55256                                    WVELSTOR                              
026155,003893: 26,3254           77735        WLSRFVEL           SLOAD                                          
026156,003894: 26,3255           02010                                    WSURFVEL                              
026157,003895: 26,3256           02511        WVELSTOR           STORE    W          +72D                       
026158,003896: 26,3257           02521                           STORE    W          +80D                       
026159,003897: 26,3260           02531                           STORE    W          +88D                       
026160,003898: 26,3261           77735                           SLOAD                                          
026161,003899: 26,3262           02003                                    WSHAFT                                
026162,003900: 26,3263           02621                           STORE    W          +144D                      
026163,003901: 26,3264           77735                           SLOAD                                          
026164,003902: 26,3265           02004                                    WTRUN                                 
026165,003903: 26,3266           02631                           STORE    W          +152D                      
026166,003904: 26,3267           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
026167,003905: 26,3270           02476                                    RENDWFLG                              
026168,003906: 26,3271           03461                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
026169,003907: 26,3272           00000                                    0                                     
026170,003908: 26,3273           77616                           RVQ                                            
026171,003909: 
026172,003910: 26,3274  E5,1400                                  EBANK=   W                                     
026173,003911: 

Page 596

026175,003913: 26,3274           54065        WBANK              BBCON    WLINIT                                
026176,003914: 26,3275  E7,1455                                  EBANK=   AIG                                   
026177,003915: 26,3275           54067        AIGBANK            BBCON    LSR22.3                               
026178,003916: 
026179,003917:                                                                                                  #  GETULC
026180,003918: 
026181,003919:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
026182,003920:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
026183,003921:                                                                                                  #  MAGNITUDE IN 36D.
026184,003922: 
026185,003923: 26,3276           77201        GETULC             SETPD    VLOAD                                 
026186,003924: 26,3277           00001                                    0                                     
026187,003925: 26,3300           01645                                    DELTALEM                              
026188,003926: 26,3301           77754                           LXA,2                                          
026189,003927: 26,3302           03716                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
026190,003928: 26,3303           53257                           VSR*     VAD                                   
026191,003929: 26,3304           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
026192,003930: 26,3305           01661                                    RCVLEM                                
026193,003931: 26,3306           53715                           PDVL     VSR*                                  
026194,003932: 26,3307           01573                                    DELTACSM                              
026195,003933: 26,3310           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
026196,003934: 26,3311           52255                           VAD      VSU                                   
026197,003935: 26,3312           01607                                    RCVCSM                                
026198,003936: 26,3313           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
026199,003937: 26,3314           21676                                    NORMUNX1                              
026200,003938: 26,3315           17722                           STODL    ULC                                   
026201,003939: 26,3316           00045                                    36D                                   
026202,003940: 26,3317           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
026203,003941: 26,3320           20201                                    0,1                                   
026204,003942: 26,3321           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
026205,003943: 26,3322           03722                                    ULC                                   
026206,003944: 26,3323           77616                           RVQ                                            
026207,003945: 
026208,003946:                                                                                                  #  RADARANG
026209,003947: 
026210,003948:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
026211,003949:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
026212,003950:                                                                                                  #  OUTPUT
026213,003951:                                                                                                  #   ULC IN ULC, PD0
026214,003952:                                                                                                  #   RLC IN PD36D
026215,003953:                                                                                                  #   SIN THETA IN SINTHETA AND PD6
026216,003954:                                                                                                  #   RXZ NORM IN RXZ (N IN X1)
026217,003955: 26,3324           45020        RADARANG           STQ      CALL                                  
026218,003956: 26,3325           03673                                    RDRET                                 
026219,003957: 26,3326           55276                                    GETULC                                
026220,003958: 26,3327           50276                           VCOMP    DOT                                   
026221,003959: 26,3330           03703                                    MY                                    
026222,003960: 26,3331           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
026223,003961: 26,3332           03730                           STORE    SINTHETA                              
026224,003962: 26,3333           44316                           DSQ      BDSU                                  
026225,003963: 26,3334           06414                                    DP1/4TH                               #  1 - (SIN THETA)**2
026226,003964: 

Page 597

026228,003966: 26,3335           41366                           SQRT     DMP                                   
026229,003967: 26,3336           00045                                    36D                                   
026230,003968: 26,3337           60352                           SL1      NORM                                  
026231,003969: 26,3340           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
026232,003970: 26,3341           03720                           STORE    RXZ                                   
026233,003971: 26,3342           77650                           GOTO                                           #  EXIT
026234,003972: 26,3343           03673                                    RDRET                                 
026235,003973: 26,3344           45020        LGCUPDTE           STQ      CALL                                  
026236,003974: 26,3345           03673                                    LGRET                                 
026237,003975: 26,3346           46433                                    INCORP1                               
026238,003976: 26,3347           51575                           VLOAD    ABVAL                                 
026239,003977: 26,3350           02673                                    DELTAX     +6                         
026240,003978: 26,3351           53754                           LXA,2    SRR*                                  
026241,003979: 26,3352           03716                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
026242,003980: 26,3353           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
026243,003981: 26,3354           24317                           STOVL    R22DISP    +2                         
026244,003982: 26,3355           02665                                    DELTAX                                
026245,003983: 26,3356           53646                           ABVAL    SRR*                                  
026246,003984: 26,3357           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
026247,003985: 26,3360           00315                           STORE    R22DISP                               
026248,003986: 26,3361           54335                           SLOAD    SR                                    
026249,003987: 26,3362           02005                                    RMAX                                  
026250,003988: 26,3363           20613                                    10D                                   
026251,003989: 26,3364           50025                           DSU      BMN                                   
026252,003990: 26,3365           00315                                    R22DISP                               
026253,003991: 26,3366           50620                                    R22LEM96                              #  GO DISPLAY
026254,003992: 26,3367           45335                           SLOAD    DSU                                   
026255,003993: 26,3370           02006                                    VMAX                                  
026256,003994: 26,3371           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
026257,003995: 26,3372           77640                           BMN                                            
026258,003996: 26,3373           50620                                    R22LEM96                              #  GO DISPLAY
026259,003997: 26,3374           77624        ASTOK              CALL                                           
026260,003998: 26,3375           46645                                    INCORP2                               
026261,003999: 26,3376           77650                           GOTO                                           
026262,004000: 26,3377           03673                                    LGRET                                 
026263,004001: 26,3400           00103 03370  IMUVAR             2DEC     E-6        B12                        #  RAD**2
026264,004002: 
026265,004003: 26,3402           00241        WSIZE              DEC      161        B-14                       
026266,004004: 26,3403           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
026267,004005: 26,3405  E7,1454                                  EBANK=   LOSCOUNT                              
026268,004006: 

Page 598

026270,004008:                                                                                                  #  PROGRAM NAME LRS24.1   RR SEARCH ROUTINE
026271,004009:                                                                                                  #  MOD NO  0        BY  P VOLANTE  SDC          DATE 1-15-67
026272,004010: 
026273,004011: 
026274,004012:                                                                                                  #  FUNCTIONAL DESCRIPTION
026275,004013: 
026276,004014:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026277,004015:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026278,004016:                                                                                                  #  LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026279,004017:                                                                                                  #  ATTITUDE MANEUVER.
026280,004018: 
026281,004019: 
026282,004020:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
026283,004021: 
026284,004022: 
026285,004023:                                                                                                  #  SUBROUTINES CALLED
026286,004024: 
026287,004025:                                                                                                  #        LEMCONIC      R61LEM
026288,004026:                                                                                                  #        CSMCONIC      RRDESSM
026289,004027:                                                                                                  #        JOBDELAY      FLAGDOWN
026290,004028:                                                                                                  #        WAITLIST      FLAGUP
026291,004029:                                                                                                  #        RRNB          BANKCALL
026292,004030: 
026293,004031: 
026294,004032:                                                                                                  #  EXIT -  TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026295,004033: 
026296,004034: 
026297,004035:                                                                                                  #  OUTPUT
026298,004036: 
026299,004037:                                                                                                  #      DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026300,004038:                                                                                                  #                                       11111 INDICATES LOCKON ACHIEVED
026301,004039:                                                                                                  #      OMEGAD   (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026302,004040: 
026303,004041:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
026304,004042:                                                                                                  #     SEARCH FLAG MUST BE SET
026305,004043:                                                                                                  #     LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026306,004044:                                                                                                  #  DEBRIS
026307,004045: 
026308,004046:                                                                                                  #     RLMSRCH      UXVECT
026309,004047:                                                                                                  #     VXRLM        UYVECT
026310,004048:                                                                                                  #     LOSDESRD     NSRCHPNT
026311,004049:                                                                                                  #     DATAGOOD     OMEGAD
026312,004050:                                                                                                  #     MPAC         PUSHLIST
026313,004051: 
026314,004052: 26,3405                                           COUNT*   $$/LRS24                              
026315,004053: 26,3405           34755        LRS24.1            CAF      ZERO                                  
026316,004054: 26,3406           55734                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
026317,004055: 26,3407           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
026318,004056: 26,3410           00006                           EXTEND                                         
026319,004057: 

Page 599

026321,004059: 26,3411           05012                           WOR      CHAN12                                
026322,004060: 26,3412           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
026323,004061: 26,3413           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
026324,004062: 26,3414           00006                           EXTEND                                         
026325,004063: 26,3415           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
026326,004064: 
026327,004065: 
026328,004066: 26,3416           33655                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026329,004067: 26,3417           00004                           INHINT                                         
026330,004068: 26,3420           05203                           TC       WAITLIST                              #  IN 6 SECONDS
026331,004069: 26,3421  E7,1454                                  EBANK=   LOSCOUNT                              
026332,004070: 26,3421           03605 54067                     2CADR    CALLDGCH                              
026333,004071: 26,3423           00003                           RELINT                                         
026334,004072: 26,3424           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
026335,004073: 26,3425           74736                           MASK     BIT14                                 #  (BIT 14 RADMODES = 1)
026336,004074: 26,3426           00006                           EXTEND                                         
026337,004075: 26,3427           15155                           BZF      ENDOFJOB                              #  YES- WAIT SIX SECONDS
026338,004076: 26,3430           06036                           TC       INTPRET                               
026339,004077: 
026340,004078: 26,3431           77634                           RTB                                            
026341,004079: 26,3432           21462                                    LOADTIME                              
026342,004080: 26,3433           34041        LRS24.11           STCALL   TDEC1                                 
026343,004081: 26,3434           27100                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
026344,004082: 26,3435           77775                           VLOAD                                          
026345,004083: 26,3436           00001                                    RATT                                  
026346,004084: 26,3437           27674                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
026347,004085: 26,3440           00007                                    VATT                                  
026348,004086: 26,3441           17736                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
026349,004087: 26,3442           00015                                    TAT                                   
026350,004088: 26,3443           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
026351,004089: 26,3444           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
026352,004090: 26,3445           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM)-R(LM)
026353,004091: 26,3446           00001                                    RATT                                  
026354,004092: 26,3447           03674                                    RLMSRCH                               
026355,004093: 26,3450           77656                           UNIT                                           
026356,004094: 26,3451           27710                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
026357,004095: 26,3452           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
026358,004096: 26,3453           47256                           UNIT     VXV                                   
026359,004097: 26,3454           00001                                    RATT                                  
026360,004098: 26,3455           77656                           UNIT                                           
026361,004099: 26,3456           03702                           STORE    VXRCM                                 
026362,004100: 26,3457           52375                           VLOAD    VSU                                   
026363,004101: 26,3460           00007                                    VATT                                  
026364,004102: 26,3461           03736                                    SAVLEMV                               
026365,004103: 26,3462           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
026366,004104: 26,3463           01734                                    REFSMMAT                              
026367,004105: 26,3464           03736                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
026368,004106: 26,3465           53135                           SLOAD    BZE                                   #  CHECK IF N=0
026369,004107: 26,3466           03735                                    NSRCHPNT                              
026370,004108: 

Page 600

026372,004110: 26,3467           55600                                    DESGLOS                               #  YES-DESIGNATE ALONG LOS
026373,004111: 26,3470           53025                           DSU      BZE                                   #  IS N=1
026374,004112: 26,3471           15653                                    ONEOCT                                #  YES-CALCULATE X AND Y AXES OF
026375,004113: 26,3472           55565                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
026376,004114: 26,3473           77775                           VLOAD                                          #  NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026377,004115: 26,3474           03716                                    UXVECT                                
026378,004116: 26,3475           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
026379,004117: 26,3476           03724                                    UYVECT                                #  UXPRIME = ORIGINAL UX
026380,004118: 26,3477           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
026381,004119: 26,3500           77761                           VXSC                                           
026382,004120: 26,3501           15647                                    SIN60DEG                              #  UX =(COS 60)UXPR +(SIN 60)UYPR
026383,004121: 26,3502           27716                           STOVL    UXVECT                                
026384,004122: 26,3503           00015                                    UXVECTPR                              
026385,004123: 26,3504           53361                           VXSC     VAD                                   
026386,004124: 26,3505           06422                                    COS60DEG                              
026387,004125: 26,3506           03716                                    UXVECT                                
026388,004126: 26,3507           77656                           UNIT                                           
026389,004127: 26,3510           27716                           STOVL    UXVECT                                
026390,004128: 26,3511           00015                                    UXVECTPR                              #  UY=(-SIN 60)UXPR +(COS 60)UYPR
026391,004129: 26,3512           77761                           VXSC                                           
026392,004130: 26,3513           15647                                    SIN60DEG                              
026393,004131: 26,3514           27724                           STOVL    UYVECT                                
026394,004132: 26,3515           00023                                    UYVECTPR                              
026395,004133: 26,3516           52361                           VXSC     VSU                                   
026396,004134: 26,3517           06422                                    COS60DEG                              
026397,004135: 26,3520           03724                                    UYVECT                                
026398,004136: 26,3521           77656                           UNIT                                           
026399,004137: 26,3522           03724                           STORE    UYVECT                                
026400,004138: 26,3523           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
026401,004139: 26,3524           15651                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
026402,004140: 26,3525           03710                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
026403,004141: 26,3526           64256                           UNIT     MXV                                   
026404,004142: 26,3527           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
026405,004143: 26,3530           77772                           VSL1                                           
026406,004144: 26,3531           25102        CONTDESG           STOVL    RRTARGET                              
026407,004145: 26,3532           03736                                    SAVLEMV                               
026408,004146: 26,3533           01761                           STORE    LOSVEL                                
026409,004147: 26,3534           77776                           EXIT                                           
026410,004148: 26,3535           00004                           INHINT                                         
026411,004149: 26,3536           06027                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
026412,004150: 26,3537           52602                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
026413,004151:                                                                                                  #  POINT IN THE PATTERN
026414,004152: 26,3540           44735        CONTDES2           CS       BIT15                                 
026415,004153: 26,3541           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
026416,004154: 26,3542           64735                           AD       BIT15                                 #  A CONTINUOUS DESIGNATE WANTED
026417,004155: 26,3543           54110                           TS       RADMODES                              
026418,004156: 26,3544           06036                           TC       INTPRET                               
026419,004157: 
026420,004158: 26,3545           77624                           CALL                                           
026421,004159: 26,3546           52373                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
026422,004160: 

Page 601

026424,004162: 
026425,004163: 26,3547           77776                           EXIT                                           
026426,004164: 26,3550           03637                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
026427,004165: 26,3551           03637                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
026428,004166: 
026429,004167: 
026430,004168:                                                                                                  #  COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026431,004169:                                                                                                  #  SPACECRAFT +Z AXIS
026432,004170: 26,3552           00006        OMEGCALC           EXTEND                                         
026433,004171: 26,3553           30036                           DCA      CDUT                                  
026434,004172: 26,3554           53751                           DXCH     TANGNB                                
026435,004173: 26,3555           06036                           TC       INTPRET                               
026436,004174: 26,3556           77624                           CALL                                           
026437,004175: 26,3557           46041                                    RRNB                                  
026438,004176: 26,3560           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026439,004177: 26,3561           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026440,004178: 26,3562           03733                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
026441,004179: 26,3563           77776                           EXIT                                           
026442,004180: 26,3564           05155                           TC       ENDOFJOB                              
026443,004181: 

Page 602

026445,004183:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026446,004184: 
026447,004185: 
026448,004186: 26,3565           47375        CALCXY             VLOAD    VXV                                   
026449,004187: 26,3566           03702                                    VXRCM                                 
026450,004188: 26,3567           03710                                    LOSDESRD                              
026451,004189: 26,3570           77656                           UNIT                                           
026452,004190: 26,3571           27716                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
026453,004191: 26,3572           03710                                    LOSDESRD                              
026454,004192: 26,3573           53435                           VXV      UNIT                                  
026455,004193: 26,3574           03716                                    UXVECT                                
026456,004194: 26,3575           03724                           STORE    UYVECT                                #  UY = LOS X UX
026457,004195: 26,3576           77650                           GOTO                                           
026458,004196: 26,3577           55523                                    OFFCALC                               
026459,004197: 
026460,004198: 
026461,004199: 26,3600           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
026462,004200: 26,3601           03710                                    LOSDESRD                              
026463,004201: 26,3602           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
026464,004202: 26,3603           52172                           VSL1     GOTO                                  
026465,004203: 26,3604           55531                                    CONTDESG                              
026466,004204: 
026467,004205: 
026468,004206: 26,3605           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
026469,004207: 26,3606           74745                           MASK     RNDVZBIT                              
026470,004208: 26,3607           00006                           EXTEND                                         
026471,004209: 26,3610           15261                           BZF      TASKOVER                              #  NO-EXIT R24
026472,004210: 26,3611           37712                           CAF      PRIO25                                #  YES-SCHEDULE JOB TO DRIVE RADAR TO NEXT
026473,004211: 26,3612           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
026474,004212: 26,3613  E7,1673                                  EBANK=   RLMSRCH                               
026475,004213: 26,3613           03616 54067                     2CADR    DATGDCHK                              
026476,004214: 26,3615           05261                           TC       TASKOVER                              
026477,004215: 
026478,004216: 
026479,004217: 26,3616           34750        DATGDCHK           CAF      BIT4                                  
026480,004218: 26,3617           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
026481,004219: 26,3620           02033                           RAND     CHAN33                                
026482,004220: 26,3621           00006                           EXTEND                                         
026483,004221: 26,3622           13631                           BZF      STORE1S                               #  YES- GO TO STORE 11111 FOR DISPLAY IN R1
026484,004222: 26,3623           46241                           CS       SIX                                   
026485,004223: 26,3624           61734                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
026486,004224: 26,3625           00006                           EXTEND                                         
026487,004225: 26,3626           13405                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
026488,004226: 26,3627           25734                           INCR     NSRCHPNT                              #  NO-SET N = N+1 AN GO TO
026489,004227: 26,3630           13407                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
026490,004228: 
026491,004229: 
026492,004230: 26,3631           33645        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
026493,004231: 26,3632           55731                           TS       DATAGOOD                              
026494,004232: 

Page 603

026496,004234: 26,3633           00004                           INHINT                                         
026497,004235: 26,3634           06027                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
026498,004236: 26,3635           52602                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
026499,004237: 26,3636           05155                           TC       ENDOFJOB                              
026500,004238: 
026501,004239: 26,3637           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527- LOS NOT IN MODE2
026502,004240: 26,3640           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
026503,004241: 26,3641           00004                           INHINT                                         #  REQUIRED IN P20
026504,004242: 26,3642           06027                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
026505,004243: 26,3643           55605                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
026506,004244: 26,3644           05155                           TC       ENDOFJOB                              
026507,004245: 
026508,004246: 
026509,004247: 26,3645           25547        ALL1S              DEC      11111      B-14                       
026510,004248: 26,3646           33555 01106  SIN60DEG           2DEC     .86603                                
026511,004249: 26,3650  23,2421               COS60DEG           =        DPHALF                                #  (2DEC   .50)
026512,004250: 26,3650                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
026513,004251: 26,3650                        UYVECTPR           EQUALS   18D                                   
026514,004252: 26,3650                        RLMUNIT            EQUALS   12D                                   
026515,004253: 26,3650           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
026516,004254: 26,3652           00001        ONEOCT             OCT      00001                                 #  ****  NOTE-THESE TWO CONSTANTS MUST ****
026517,004255: 26,3653           00000 00454  3SECONDS           2DEC     300        B-28                       #  ****  BE IN THIS ORDER BECAUSE      ****
026518,004256:                                                                                                  #  ****  ONEOCT NEEDS A LOWER ORDER    ****
026519,004257:                                                                                                  #  ****  WORD OF ZEROES                ****
026520,004258: 26,3655           01130        6SECONDS           DEC      600        B-14                       
026521,004259: 26,3656           00062        DEC50              DEC      50         B-14                       
026522,004260:                                                                                                  #  ********************************
026523,004261: 
026524,004262:                                                                                                  #  TEST PROGRAM FOR LSR22.3 --- TO BE REMOVED
026525,004263:                                                                                                  #  ********************************
026526,004264: 
026527,004265: 27,2156                                           BANK     27                                    
026528,004266: 
026529,004267: 27,2156  E7,1455                                  EBANK=   AIG                                   
026530,004268: 27,2156                                           COUNT*   $$/RTEST                              
026531,004269: 27,2156           34755        TEST22.3           CAF      ZERO                                  
026532,004270: 27,2157           55122                           TS       LONG                                  
026533,004271: 27,2160           06036        LOOP22.3           TC       INTPRET                               
026534,004272: 27,2161           70744                           LXC,2    DLOAD*                                
026535,004273: 27,2162           01122                                    LONG                                  
026536,004274: 27,2163           62370                                    JOBOVER    +1,2                       
026537,004275: 27,2164           03456                           STORE    AIG                                   
026538,004276: 27,2165           77743                           DLOAD*                                         
026539,004277: 27,2166           62367                                    JOBOVER    +2,2                       
026540,004278: 27,2167           03457                           STORE    AMG                                   
026541,004279: 27,2170           77743                           DLOAD*                                         
026542,004280: 

Page 604

026544,004282: 27,2171           62365                                    JOBOVER    +4,2                       
026545,004283: 27,2172           03753                           STORE    MKTIME                                
026546,004284: 27,2173           77743                           DLOAD*                                         
026547,004285: 27,2174           62363                                    JOBOVER    +6,2                       
026548,004286: 27,2175           03755                           STORE    RM                                    
026549,004287: 27,2176           77743                           DLOAD*                                         
026550,004288: 27,2177           62361                                    JOBOVER    +8D,2                      
026551,004289: 27,2200           03747                           STORE    RDOTM                                 
026552,004290: 27,2201           77743                           DLOAD*                                         
026553,004291: 27,2202           62357                                    JOBOVER    +10D,2                     
026554,004292: 27,2203           03734                           STORE    RRSHAFT                               
026555,004293: 27,2204           77743                           DLOAD*                                         
026556,004294: 27,2205           62355                                    JOBOVER    +12D,2                     
026557,004295: 27,2206           03732                           STORE    RRTRUN                                
026558,004296: 27,2207           77624                           CALL                                           
026559,004297: 27,2210           54370                                    LSR22.3                               
026560,004298: 27,2211           77776        22.3ENT            EXIT                                           
026561,004299: 27,2212           31122                           CA       LONG                                  
026562,004300: 27,2213           62222                           AD       DEC13T                                
026563,004301: 27,2214           55122                           TS       LONG                                  
026564,004302: 27,2215           11123                           CCS      LONG       +1                         
026565,004303: 27,2216           02220                           TC       +2                                    
026566,004304: 27,2217           30000        STOP22.3           CA       A                                     
026567,004305: 27,2220           55123                           TS       LONG       +1                         
026568,004306: 27,2221           02160                           TC       LOOP22.3                              
026569,004307: 27,2222           00015        DEC13T             DEC      13         B-14                       
026570,004308: 
026571,004309: 27,2223  26,3405               JOBOVER            EQUALS   LRS24.1                               #  ****  TEMPORARY DEFINITION ******
026572,004310: 
026573,004311:                                                                                                  #  END OF TEST PROGRAM
026574,004312:                                                                                                  #   ****************************************
026575,004313: 27,2223  23,2423               ZERO/SP            EQUALS   HI6ZEROS                              
026576,004314:    4616                                           BLOCK    02                                    
026577,004315:    6000                                           SETLOC   FFTAG5                                
026578,004316:    6000                                           BANK                                           
026579,004317:    6022                                           COUNT*   $$/P20                                
026580,004318:    6022           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
026581,004319:    6023           36026                           DCA      VB56CADR                              #  GOTOPOOH
026582,004320:    6024           15165                           TCF      SUPDXCHZ                              
026583,004321:    6025  E7,1467                                  EBANK=   WHOCARES                              
026584,004322:    6025           03034 66107  VB56CADR           2CADR    TRMTRACK                              
026585,004323: 
026586,004324: 

Page 605

026588,004326:                                                                                                  #  PROGRAM NAME: R29  (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
026589,004327:                                                                                                  #  MOD NO. 2       BY H. BLAIR-SMITH       JULY 2, 1968.
026590,004328: 
026591,004329: 
026592,004330:                                                                                                  #  FUNCTIONAL DESCRIPTION:
026593,004331: 
026594,004332:                                                                                                  #  DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
026595,004333:                                                                                                  #  AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
026596,004334:                                                                                                  #  THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
026597,004335:                                                                                                  #  THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
026598,004336:                                                                                                  #  DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
026599,004337:                                                                                                  #  INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
026600,004338: 
026601,004339:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
026602,004340: 
026603,004341: 
026604,004342:                                                                                                  #  SUBROUTINES CALLED:
026605,004343: 
026606,004344:                                                                                                  #  REMODE   RRTONLY
026607,004345:                                                                                                  #  UNIT     MPACVBUF
026608,004346:                                                                                                  #  QUICTRIG AX*SR*T
026609,004347:                                                                                                  #  SPSIN    SPCOS
026610,004348:                                                                                                  #  SETRRECR RROUT
026611,004349:                                                                                                  #  RRRDOT   RRRANGE
026612,004350: 
026613,004351: 
026614,004352:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
026615,004353: 
026616,004354: 
026617,004355:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
026618,004356: 
026619,004357:                                                                                                  #  RM       RDOTM                  (RAW)
026620,004358:                                                                                                  #  AIG      AMG
026621,004359:                                                                                                  #  AOG      TRKMKCNT               TRKMKCNT = 00001 IF SET IS CONSISTENT,
026622,004360:                                                                                                  #  TANGNB   TANGNB +1              OTHERWISE TRKMKCNT = 00000.
026623,004361:                                                                                                  #  MKTIME
026624,004362: 

Page 606

026626,004364: 
026627,004365:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
026628,004366: 
026629,004367:                                                                                                  #  NOR29FLG READRFLG               (TO 1 AND 0 BY FRESH START)  (RESET NOR29FLG TO LET SERVICER RUN R29)
026630,004368:                                                                                                  #  PIPTIME  RADMODES (BIT 10)      (BIT SET TO 0 BY FRESH START)
026631,004369:                                                                                                  #  R(CSM)   V(CSM)
026632,004370:                                                                                                  #  R        V                      (PIPTIME THRU V BY AVE G IN SERVICER)
026633,004371: 
026634,004372: 
026635,004373:                                                                                                  #  DEBRIS:
026636,004374: 
026637,004375:                                                                                                  #  RADMODES (BIT 10)
026638,004376:                                                                                                  #  LOSSM    LOSVDT/4       (= RRTARGET & LOSVEL)
026639,004377:                                                                                                  #  SAVECDUT OLDESFLG       (SAVECDUT = MLOSV)
026640,004378:                                                                                                  #  LOSCMFLG READRFLG
026641,004379: 
026642,004380: 
026643,004381:                                                                                                  #  ALARMS:  NONE.
026644,004382: 
026645,004383: 
026646,004384:                                                                                                  #  COMPONENT JOBS AND TASKS:
026647,004385: 
026648,004386:                                                                                                  #  INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
026649,004387:                                                                                                  #  DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
026650,004388:                                                                                                  #  RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
026651,004389: 
026652,004390: 
026653,004391: 33,2045                                           BANK     33                                    
026654,004392: 33,2000                                           SETLOC   R29/SERV                              
026655,004393: 33,2000                                           BANK                                           
026656,004394: 
026657,004395: 33,2045                                           COUNT*   $$/R29                                
026658,004396: 
026659,004397: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
026660,004398: 

Page 607

026662,004400:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
026663,004401:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
026664,004402: 
026665,004403: 33,2045           40110        R29                CS       RADMODES                              
026666,004404: 33,2046           74742                           MASK     BIT10                                 
026667,004405: 33,2047           00006                           EXTEND                                         
026668,004406: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
026669,004407: 
026670,004408: 33,2051           00004                           INHINT                                         
026671,004409: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
026672,004410: 33,2053           44736                           CS       BIT14                                 
026673,004411: 33,2054           00006                           EXTEND                                         
026674,004412: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
026675,004413: 33,2056           44740                           CS       LOSCMBIT                              
026676,004414: 33,2057           70076                           MASK     FLAGWRD2                              
026677,004415: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
026678,004416: 33,2061           44753                           CS       OLDESBIT                              
026679,004417: 33,2062           70074                           MASK     STATE                                 
026680,004418: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
026681,004419: 33,2064           04616                           TC       BANKCALL                              
026682,004420: 33,2065           52156                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
026683,004421: 33,2066           34740                           CA       BIT12                                 
026684,004422: 33,2067           70110                           MASK     RADMODES                              
026685,004423: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
026686,004424: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
026687,004425: 
026688,004426: 33,2072           35031                           CA       PRIO21                                #  MODE 1; MUST REMODE.
026689,004427: 33,2073           05072                           TC       NOVAC                                 
026690,004428: 33,2074  E7,1454                                  EBANK=   LOSCOUNT                              
026691,004429: 33,2074           02113 66067                     2CADR    R29REM0J                              #  NEEDS OWN JOB TO RADSTALL IN.
026692,004430: 
026693,004431: 33,2076           44742                           CS       BIT10                                 
026694,004432: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
026695,004433: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
026696,004434: 33,2101           34736                           CA       BIT14                                 
026697,004435: 33,2102           26110                           ADS      RADMODES                              #   SHOW THAT REMODING IS ON.
026698,004436: 33,2103           12623                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
026699,004437: 
026700,004438: 33,2104           34753        SETPRPOS           CA       ONE                                   
026701,004439: 33,2105           05203                           TC       WAITLIST                              
026702,004440: 33,2106  E7,1454                                  EBANK=   LOSCOUNT                              
026703,004441: 33,2106           03601 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
026704,004442: 
026705,004443: 33,2110           34741                           CA       BIT11                                 
026706,004444: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
026707,004445: 33,2112           12623                           TCF      NOR29NOW                              
026708,004446: 

Page 608

026710,004448:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
026711,004449: 
026712,004450: 33,2113           34753        R29REM0J           CA       ONE                                   
026713,004451: 33,2114           05203                           TC       WAITLIST                              
026714,004452: 33,2115  E7,1454                                  EBANK=   LOSCOUNT                              
026715,004453: 33,2115           02171 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
026716,004454: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
026717,004455: 33,2120           17667                           CADR     RADSTALL                              
026718,004456: 
026719,004457: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
026720,004458: 33,2122           15155                           TCF      ENDOFJOB                              
026721,004459: 
026722,004460:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
026723,004461: 
026724,004462: 25,2000                                           SETLOC   R29S1                                 
026725,004463: 25,2000                                           BANK                                           
026726,004464: 
026727,004465: 25,3601           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
026728,004466: 25,3602           02241                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
026729,004467: 25,3603           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
026730,004468: 25,3604           70110                           MASK     RADMODES                              
026731,004469: 25,3605           54110                           TS       RADMODES                              
026732,004470: 25,3606           15261                           TCF      TASKOVER                              
026733,004471: 
026734,004472: 
026735,004473:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
026736,004474: 
026737,004475: 
026738,004476: 33,2045                                           SETLOC   R29                                   
026739,004477: 33,2045                                           BANK                                           
026740,004478: 
026741,004479: 33,2123           00006        R29.LOS            EXTEND                                         
026742,004480: 33,2124           41235                           DCS      PIPTIME                               
026743,004481: 33,2125           52155                           DXCH     MPAC                                  
026744,004482: 33,2126           00006                           EXTEND                                         
026745,004483: 33,2127           30025                           DCA      TIME2                                 
026746,004484: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
026747,004485: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
026748,004486: 33,2132           30155                           CA       MPAC       +1                         
026749,004487: 33,2133           00006                           EXTEND                                         
026750,004488: 33,2134           74740                           MP       BIT12                                 
026751,004489: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
026752,004490: 33,2136           06036                           TC       INTPRET                               
026753,004491: 

Page 609

026755,004493:                                                                                                  #  LOSCMFLG=0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
026756,004494:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
026757,004495: 
026758,004496: 
026759,004497: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
026760,004498: 33,2140           01726                                    V(CSM)                                
026761,004499: 33,2141           03525                                    V                                     #  LOSVEL = V(CSM) - V.
026762,004500: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
026763,004501: 33,2143           52255                           VAD      VSU                                   #   AND ADD THE RESULT TO R(CSM) - R TO GET
026764,004502: 33,2144           01720                                    R(CSM)                                #   AN UP-TO-DATE LOS VECTOR IN SM AXES.
026765,004503: 33,2145           03517                                    R                                     
026766,004504: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
026767,004505: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
026768,004506: 33,2150           66152                                    SETUP29D                              #   FLG TO ON AND GO TO SET UP NEW DATA.
026769,004507: 33,2151           12623                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
026770,004508: 
026771,004509: 33,2152           25102        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
026772,004510: 33,2153           00001                                    0                                     
026773,004511: 33,2154           77761                           VXSC                                           
026774,004512: 33,2155           26177                                    .5SECB17                              
026775,004513: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
026776,004514: 33,2157           77414                           CLEAR    EXIT                                  
026777,004515: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
026778,004516: 
026779,004517: 33,2161           40074                           CS       STATE                                 
026780,004518: 33,2162           74753                           MASK     OLDESBIT                              
026781,004519: 33,2163           00006                           EXTEND                                         
026782,004520: 33,2164           12623                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
026783,004521: 33,2165           00004                           INHINT                                         
026784,004522: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
026785,004523: 
026786,004524: 33,2167           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
026787,004525: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
026788,004526: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
026789,004527: 33,2172           05203                           TC       WAITLIST                              
026790,004528: 33,2173  E7,1454                                  EBANK=   LOSCOUNT                              
026791,004529: 33,2173           03253 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
026792,004530: 33,2175           12623                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
026793,004531: 
026794,004532: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
026795,004533: 

Page 610

026797,004535:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
026798,004536:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
026799,004537: 
026800,004538: 24,3253                                           BANK     24                                    
026801,004539: 24,2000                                           SETLOC   P20S                                  
026802,004540: 24,2000                                           BANK                                           
026803,004541: 
026804,004542: 24,3253                                           COUNT*   $$/R29                                
026805,004543: 
026806,004544: 24,3253           35031        BEGDES29           CAF      PRIO21                                
026807,004545: 24,3254           05072                           TC       NOVAC                                 
026808,004546: 24,3255  E3,1760                                  EBANK=   LOSVDT/4                              
026809,004547: 24,3255           02545 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
026810,004548: 
026811,004549: 24,3257           34774        R29DLOOP           CAF      .5SEC                                 
026812,004550: 24,3260           05224                           TC       VARDELAY                              
026813,004551: 
026814,004552: 24,3261           40110                           CS       RADMODES                              
026815,004553: 24,3262           74742                           MASK     BIT10                                 
026816,004554: 24,3263           10000                           CCS      A                                     
026817,004555: 24,3264           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
026818,004556: 
026819,004557: 24,3265           40076                           CS       FLAGWRD2                              
026820,004558: 24,3266           74740                           MASK     LOSCMBIT                              
026821,004559: 24,3267           00006                           EXTEND                                         
026822,004560: 24,3270           13273                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
026823,004561: 24,3271           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
026824,004562: 24,3272           13253                           TCF      BEGDES29                              
026825,004563: 
026826,004564: 24,3273           34753                           CA       ONE                                   
026827,004565: 24,3274           13260                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.
026828,004566: 

Page 611

026830,004568:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
026831,004569: 
026832,004570:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
026833,004571:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
026834,004572:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
026835,004573:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
026836,004574:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
026837,004575: 
026838,004576:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
026839,004577:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
026840,004578: 
026841,004579: 32,2545                                           BANK     32                                    
026842,004580: 32,2000                                           SETLOC   F2DPS*32                              
026843,004581: 32,2000                                           BANK                                           
026844,004582: 
026845,004583: 32,2545                                           COUNT*   $$/R29                                
026846,004584: 32,2545  E3,1760                                  EBANK=   LOSVDT/4                              
026847,004585: 
026848,004586: 32,2545           34753        R29DODES           CA       ONE                                   
026849,004587: 32,2546           55107                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
026850,004588: 32,2547           34756                           CA       FIVE                                  
026851,004589: 
026852,004590: 32,2550           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
026853,004591: 32,2551           54002                           TS       Q                                     
026854,004592: 32,2552           11107                           CCS      TANG                                  
026855,004593: 32,2553           12561                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
026856,004594: 
026857,004595: 32,2554           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
026858,004596: 32,2555           50002                           INDEX    Q                                     
026859,004597: 32,2556           31761                           DCA      LOSVDT/4                              
026860,004598: 32,2557           50002                           INDEX    Q                                     
026861,004599: 32,2560           21102                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
026862,004600: 
026863,004601: 32,2561           00006        R29DPAS1           EXTEND                                         
026864,004602: 32,2562           50002                           INDEX    Q                                     
026865,004603: 32,2563           31102                           DCA      LOSSM                                 
026866,004604: 32,2564           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
026867,004605: 32,2565           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
026868,004606: 32,2566           11107                           CCS      TANG                                  
026869,004607: 32,2567           12575                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
026870,004608: 
026871,004609: 32,2570           00006                           EXTEND                                         
026872,004610: 32,2571           50002                           INDEX    Q                                     
026873,004611: 32,2572           31761                           DCA      LOSVDT/4                              
026874,004612: 32,2573           50002                           INDEX    Q                                     
026875,004613: 32,2574           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
026876,004614: 
026877,004615: 32,2575           10002        R29DVEND           CCS      Q                                     
026878,004616: 32,2576           12550                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
026879,004617: 

Page 612

026881,004619:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
026882,004620: 
026883,004621: 32,2577           52156                           DXCH     MPAC       +1                         
026884,004622: 32,2600           52155                           DXCH     MPAC                                  
026885,004623: 32,2601           32770                           CA       R29FXLOC                              #  = ADRES INTB15+ -34D
026886,004624: 32,2602           54120                           TS       FIXLOC                                
026887,004625: 32,2603           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
026888,004626: 32,2604           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
026889,004627: 32,2605           07531                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
026890,004628: 
026891,004629: 32,2606           11107                           CCS      TANG                                  
026892,004630: 32,2607           12611                           TCF      +2                                    
026893,004631: 32,2610           12625                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
026894,004632: 32,2611           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
026895,004633: 32,2612           00006                           EXTEND                                         
026896,004634: 32,2613           30036                           DCA      CDUT                                  
026897,004635: 32,2614           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
026898,004636: 32,2615           30033                           CA       CDUY                                  
026899,004637: 32,2616           54766                           TS       CDUSPOT                               
026900,004638: 32,2617           30034                           CA       CDUZ                                  
026901,004639: 32,2620           54770                           TS       CDUSPOT    +2                         
026902,004640: 32,2621           30032                           CA       CDUX                                  
026903,004641: 32,2622           54772                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
026904,004642: 32,2623           04616                           TC       BANKCALL                              
026905,004643: 32,2624           47521                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
026906,004644: 
026907,004645: 32,2625           46244        GOTANGLS           CS       THREE                                 
026908,004646: 32,2626           04616                           TC       BANKCALL                              
026909,004647: 32,2627           47601                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
026910,004648: 
026911,004649: 32,2630           11107                           CCS      TANG                                  
026912,004650: 32,2631           12633                           TCF      +2                                    
026913,004651: 32,2632           12676                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
026914,004652: 

Page 613

026916,004654:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
026917,004655:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
026918,004656: 
026919,004657: 32,2633           55107                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
026920,004658: 32,2634           31766                           CA       SAVECDUT                              
026921,004659: 32,2635           05032                           TC       SPCOS                                 
026922,004660: 32,2636           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
026923,004661: 32,2637           41766                           CS       SAVECDUT                              
026924,004662: 32,2640           05033                           TC       SPSIN                                 
026925,004663: 32,2641           54163                           TS       MODE                                  #  MODE = -SIN T.
026926,004664: 32,2642           00006                           EXTEND                                         
026927,004665: 32,2643           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
026928,004666: 32,2644           52155                           DXCH     MPAC                                  
026929,004667: 32,2645           31767                           CA       SAVECDUT   +1                         
026930,004668: 32,2646           05033                           TC       SPSIN                                 
026931,004669: 32,2647           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
026932,004670: 32,2650           00006                           EXTEND                                         
026933,004671: 32,2651           70166                           MP       PUSHLOC                               
026934,004672: 32,2652           00006                           EXTEND                                         
026935,004673: 32,2653           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
026936,004674: 32,2654           20155                           DAS      MPAC                                  
026937,004675: 32,2655           31767                           CA       SAVECDUT   +1                         
026938,004676: 32,2656           05032                           TC       SPCOS                                 
026939,004677: 32,2657           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S.
026940,004678: 32,2660           00006                           EXTEND                                         
026941,004679: 32,2661           70166                           MP       PUSHLOC                               
026942,004680: 32,2662           00006                           EXTEND                                         
026943,004681: 32,2663           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
026944,004682: 32,2664           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
026945,004683: 32,2665           00006                           EXTEND                                         #  -SIN T, COS S COS T).
026946,004684: 32,2666           30155                           DCA      MPAC                                  
026947,004685: 32,2667           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
026948,004686: 32,2670           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
026949,004687: 32,2671           34736                           CA       BIT14                                 
026950,004688: 32,2672           12673                           NOOP                                           
026951,004689: 32,2673           00006                           EXTEND                                         
026952,004690: 32,2674           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
026953,004691: 32,2675           12547                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
026954,004692: 

Page 614

026956,004694:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026957,004695: 
026958,004696: 
026959,004697: 32,2676           31767        R29DPAS2           CA       SAVECDUT   +1                         
026960,004698: 32,2677           00006                           EXTEND                                         
026961,004699: 32,2700           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
026962,004700: 32,2701           53110                           DXCH     TANG                                  
026963,004701: 32,2702           41766                           CS       SAVECDUT                              
026964,004702: 32,2703           00006                           EXTEND                                         
026965,004703: 32,2704           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
026966,004704: 32,2705           21110                           DAS      TANG                                  #  RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026967,004705: 32,2706           40163                           CS       MODE                                  #  - SIN S)
026968,004706: 32,2707           00006                           EXTEND                                         
026969,004707: 32,2710           71766                           MP       SAVECDUT                              
026970,004708: 32,2711           00006                           EXTEND                                         
026971,004709: 32,2712           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
026972,004710: 32,2713           52155                           DXCH     MPAC                                  
026973,004711: 32,2714           30166                           CA       PUSHLOC                               
026974,004712: 32,2715           00006                           EXTEND                                         
026975,004713: 32,2716           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
026976,004714: 32,2717           20155                           DAS      MPAC                                  
026977,004715: 32,2720           40163                           CS       MODE                                  
026978,004716: 32,2721           00006                           EXTEND                                         
026979,004717: 32,2722           71767                           MP       SAVECDUT   +1                         
026980,004718: 32,2723           00006                           EXTEND                                         
026981,004719: 32,2724           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
026982,004720: 32,2725           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
026983,004721: 32,2726           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
026984,004722: 32,2727           00006                           EXTEND                                         
026985,004723: 32,2730           72771                           MP       RR29GAIN                              
026986,004724: 32,2731           57107                           XCH      TANG                                  #  STORE REFINED T CMD, GET RAW S CMD.
026987,004725: 32,2732           00006                           EXTEND                                         
026988,004726: 32,2733           72771                           MP       RR29GAIN                              
026989,004727: 32,2734           55110                           TS       TANG       +1                         #  STORE REFINED S CMD.
026990,004728: 

Page 615

026992,004730:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
026993,004731:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
026994,004732: 
026995,004733: 32,2735           34750        DGOOD?             CAF      BIT4                                  
026996,004734: 32,2736           00006                           EXTEND                                         
026997,004735: 32,2737           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
026998,004736: 32,2740           00004                           INHINT                                         #  (MAINLY FOR RROUT).
026999,004737: 32,2741           00006                           EXTEND                                         
027000,004738: 32,2742           12746                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
027001,004739: 
027002,004740: 32,2743           04616                           TC       BANKCALL                              
027003,004741: 32,2744           52306                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
027004,004742: 32,2745           12764                           TCF      END29DOD                              
027005,004743: 
027006,004744: 32,2746           44742        R29LOKON           CS       BIT10                                 
027007,004745: 32,2747           70110                           MASK     RADMODES                              
027008,004746: 32,2750           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
027009,004747: 32,2751           44752                           CS       BIT2                                  
027010,004748: 32,2752           00006                           EXTEND                                         
027011,004749: 32,2753           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
027012,004750: 32,2754           34743                           CA       READRBIT                              
027013,004751: 32,2755           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
027014,004752: 32,2756           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
027015,004753: 32,2757           44776                           CS       SUPER110                              #  -96D + 100D = 4.
027016,004754: 32,2760           64777                           AD       1SEC                                  #  0 + 100D = 100D.
027017,004755: 32,2761           05203                           TC       WAITLIST                              
027018,004756: 32,2762  E7,1454                                  EBANK=   LOSCOUNT                              
027019,004757: 32,2762           03275 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
027020,004758: 
027021,004759: 32,2764           44740        END29DOD           CS       LOSCMBIT                              
027022,004760: 32,2765           70076                           MASK     FLAGWRD2                              
027023,004761: 32,2766           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
027024,004762: 32,2767           15155                           TCF      ENDOFJOB                              
027025,004763: 
027026,004764: 32,2770           00052        R29FXLOC           ADRES    INTB15+    -34D                       
027027,004765: 32,2771           56655        RR29GAIN           DEC      -.53624                               
027028,004766: 32,2772  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
027029,004767: 32,2772     1101               LOSSM              EQUALS   RRTARGET                              
027030,004768: 32,2772  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
027031,004769: 

Page 616

027033,004771:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
027034,004772: 
027035,004773: 24,3275                                           BANK     24                                    
027036,004774: 24,2000                                           SETLOC   P20S                                  
027037,004775: 24,2000                                           BANK                                           
027038,004776: 
027039,004777: 24,3275                                           COUNT*   $$/R29                                
027040,004778: 
027041,004779: 24,3275  E7,1454                                  EBANK=   LOSCOUNT                              
027042,004780: 
027043,004781: 24,3275           37713        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
027044,004782: 24,3276           05072                           TC       NOVAC                                 
027045,004783: 24,3277  E7,1454                                  EBANK=   LOSCOUNT                              
027046,004784: 24,3277           03310 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
027047,004785: 
027048,004786: 24,3301           35000                           CA       2SECS                                 
027049,004787: 24,3302           05224                           TC       VARDELAY                              
027050,004788: 
027051,004789: 24,3303           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
027052,004790: 24,3304           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
027053,004791: 24,3305           10000                           CCS      A                                     
027054,004792: 24,3306           13275                           TCF      R29READ                               #  IT'S OK; CALL IT AGAIN.
027055,004793: 24,3307           15261                           TCF      TASKOVER                              #  IT AIN'T; WAIT FOR REDESIGNATE.
027056,004794: 
027057,004795: 24,3310           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
027058,004796: 24,3311           74741                           MASK     NR29FBIT                              
027059,004797: 24,3312           10000                           CCS      A                                     #  TEST "NOR29FLG".
027060,004798: 24,3313           13372                           TCF      ENDRRD29                              #  R29 IS NOW OVER, STOP AT ONCE.
027061,004799: 
027062,004800: 24,3314           30110                           CA       RADMODES                              
027063,004801: 24,3315           74752                           MASK     AUTOMBIT                              
027064,004802: 24,3316           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
027065,004803: 24,3317           13372                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
027066,004804: 
027067,004805: 24,3320           04616                           TC       BANKCALL                              
027068,004806: 24,3321           53103                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
027069,004807: 24,3322           04616                           TC       BANKCALL                              
027070,004808: 24,3323           17667                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
027071,004809: 24,3324           13372                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
027072,004810: 

Page 617

027074,004812:                                                                                                  #  R29 RADAR READING CONTINUED.
027075,004813: 
027076,004814: 
027077,004815: 24,3325           53106                           DXCH     TIMEHOLD                              
027078,004816: 24,3326           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
027079,004817: 24,3327           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
027080,004818: 24,3330           00006                           EXTEND                                         
027081,004819: 24,3331           30036                           DCA      CDUT                                  
027082,004820: 24,3332           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
027083,004821: 24,3333           00006                           EXTEND                                         
027084,004822: 24,3334           30034                           DCA      CDUY                                  
027085,004823: 24,3335           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
027086,004824: 24,3336           30032                           CA       CDUX                                  
027087,004825: 24,3337           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
027088,004826: 
027089,004827: 24,3340           04616        R29RANGE           TC       BANKCALL                              
027090,004828: 24,3341           53105                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
027091,004829: 24,3342           04616                           TC       BANKCALL                              
027092,004830: 24,3343           17667                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
027093,004831: 24,3344           13363                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
027094,004832: 
027095,004833: 24,3345           00004                           INHINT                                         
027096,004834: 24,3346           53334                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
027097,004835: 24,3347           53755                           DXCH     RM                                    
027098,004836: 24,3350           52155                           DXCH     MPAC                                  
027099,004837: 24,3351           53753                           DXCH     MKTIME                                
027100,004838: 24,3352           52157                           DXCH     MPAC       +2                         
027101,004839: 24,3353           53751                           DXCH     TANGNB                                
027102,004840: 24,3354           52161                           DXCH     MPAC       +4                         
027103,004841: 24,3355           53456                           DXCH     AIG                                   
027104,004842: 24,3356           30162                           CA       MPAC       +6                         
027105,004843: 24,3357           55457                           TS       AOG                                   
027106,004844: 24,3360           34753                           CA       ONE                                   
027107,004845: 24,3361           55460                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
027108,004846: 24,3362           15155                           TCF      ENDOFJOB                              
027109,004847: 
027110,004848: 24,3363           40101        R29RRR?            CS       FLAGWRD5                              
027111,004849: 24,3364           74742                           MASK     BIT10                                 
027112,004850: 24,3365           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
027113,004851: 24,3366           13372                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
027114,004852: 24,3367           05516                           TC       DOWNFLAG                              
027115,004853: 24,3370           00120                           ADRES    RNGSCFLG                              
027116,004854: 24,3371           13340                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
027117,004855: 
027118,004856: 24,3372           34755        ENDRRD29           CA       ZERO                                  #  TROUBLE MADE US COME HERE TO LEAVE THE
027119,004857: 24,3373           55460                           TS       TRKMKCNT                              #  RR-READING MODE.  DISCREDIT DOWNTEL.
027120,004858: 24,3374           05516                           TC       DOWNFLAG                              
027121,004859: 24,3375           00063                           ADRES    READRFLG                              
027122,004860: 24,3376           44736                           CS       BIT14                                 
027123,004861: 24,3377           00006                           EXTEND                                         
027124,004862: 

Page 618

027126,004864: 24,3400           03012                           WAND     CHAN12                                #  REMOVE TRACK-ENABLE DISCRETE.
027127,004865: 24,3401           15155                           TCF      ENDOFJOB                              
027128,004866: 

Page 619

027130,004868:                                                                                                  #  W-MATRIX MONITOR
027131,004869: 
027132,004870: 31,2011                                           BANK     31                                    
027133,004871: 31,2000                                           SETLOC   VB67                                  
027134,004872: 31,2000                                           BANK                                           
027135,004873: 31,2011                                           COUNT*   $$/EXTVB                              
027136,004874: 
027137,004875: 31,2011  E4,1604                                  EBANK=   WWPOS                                 
027138,004876: 
027139,004877: 31,2011           06036        V67CALL            TC       INTPRET                               
027140,004878: 31,2012           77624                           CALL                                           
027141,004879: 31,2013           62114                                    V67WW                                 
027142,004880: 31,2014           77776                           EXIT                                           
027143,004881: 31,2015           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
027144,004882: 31,2016           31605                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
027145,004883: 31,2017           53611                           DXCH     WWVEL      +2                         
027146,004884: 31,2020           00006                           EXTEND                                         
027147,004885: 31,2021           31607                           DCA      WWVEL                                 
027148,004886: 31,2022           53613                           DXCH     WWVEL      +4                         
027149,004887: 31,2023           32171        V06N99DS           CAF      V06N99                                
027150,004888: 31,2024           04616                           TC       BANKCALL                              
027151,004889: 31,2025           20231                           CADR     GOXDSPFR                              
027152,004890: 31,2026           15472                           TCF      ENDEXT                                
027153,004891: 31,2027           12034                           TCF      +5                                    
027154,004892: 31,2030           12023                           TCF      V06N99DS                              
027155,004893: 31,2031           34751                           CAF      BIT3                                  
027156,004894: 31,2032           05464                           TC       BLANKET                               
027157,004895: 31,2033           05155                           TC       ENDOFJOB                              
027158,004896: 31,2034           22007                 +5        ZL                                             
027159,004897: 31,2035           36244                           CA       THREE                                 
027160,004898: 31,2036           54002        N99LOOP            TS       Q                                     
027161,004899: 31,2037           50002                           INDEX    Q                                     
027162,004900: 31,2040           41604                           CS       WWPOS                                 
027163,004901: 31,2041           50002                           INDEX    Q                                     
027164,004902: 31,2042           61610                           AD       WWPOS      +4                         
027165,004903: 31,2043           26001                           ADS      L                                     
027166,004904: 31,2044           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
027167,004905: 31,2045           12036                           TCF      N99LOOP                               
027168,004906: 31,2046           22000                           LXCH     A                                     
027169,004907: 31,2047           00006                           EXTEND                                         
027170,004908: 31,2050           12053                           BZF      V06N9933                              
027171,004909: 31,2051           05504                           TC       UPFLAG                                
027172,004910: 31,2052           00160                           ADRES    V67FLAG                               
027173,004911: 
027174,004912: 31,2053           06036        V06N9933           TC       INTPRET                               
027175,004913: 31,2054           77414                           BON      EXIT                                  
027176,004914: 31,2055           03707                                    V67FLAG                               
027177,004915: 31,2056           62060                                    +2                                    
027178,004916: 31,2057           15472                           TCF      ENDEXT                                
027179,004917: 31,2060           41345                           DLOAD    DMP                                   
027180,004918: 

Page 620

027182,004920: 31,2061           02205                                    WWPOS                                 
027183,004921: 31,2062           22170                                    1/SQRT3                               
027184,004922: 31,2063           72412                           SL4      SL1                                   
027185,004923: 31,2064           14001                           STODL    0D                                    
027186,004924: 31,2065           02207                                    WWVEL                                 
027187,004925: 31,2066           77605                           DMP                                            
027188,004926: 31,2067           22170                                    1/SQRT3                               
027189,004927: 31,2070           00003                           STORE    2D                                    
027190,004928: 31,2071           72014                           BON      LXA,1                                 
027191,004929: 31,2072           04307                                    SURFFLAG                              
027192,004930: 31,2073           62103                                    V67SURF                               
027193,004931: 31,2074           00000                                    0D                                    
027194,004932: 31,2075           72130                           SXA,1    LXA,1                                 
027195,004933: 31,2076           02000                                    WRENDPOS                              
027196,004934: 31,2077           00002                                    2D                                    
027197,004935: 31,2100           52130                           SXA,1    GOTO                                  
027198,004936: 31,2101           02001                                    WRENDVEL                              
027199,004937: 31,2102           62111                                    V67CLRF                               
027200,004938: 31,2103           66150        V67SURF            LXA,1    SXA,1                                 
027201,004939: 31,2104           00000                                    0D                                    
027202,004940: 31,2105           02006                                    WSURFPOS                              
027203,004941: 31,2106           66150                           LXA,1    SXA,1                                 
027204,004942: 31,2107           00002                                    2D                                    
027205,004943: 31,2110           02007                                    WSURFVEL                              
027206,004944: 31,2111           77414        V67CLRF            CLEAR    EXIT                                  
027207,004945: 31,2112           02676                                    RENDWFLG                              
027208,004946: 31,2113           15472                           TCF      ENDEXT                                
027209,004947: 31,2114           40020        V67WW              STQ      BOV                                   
027210,004948: 31,2115           00051                                    S2                                    
027211,004949: 31,2116           62117                                    +1                                    
027212,004950: 31,2117           45014                           CLEAR    CALL                                  
027213,004951: 31,2120           03667                                    V67FLAG                               
027214,004952: 31,2121           27412                                    INTSTALL                              
027215,004953: 31,2122           71331                           SSP      DLOAD                                 
027216,004954: 31,2123           00051                                    S1                                    
027217,004955: 31,2124           00006                           DEC      6          B-14                       
027218,004956: 31,2125           06424                                    ZEROVECS                              
027219,004957: 31,2126           02205                           STORE    WWPOS                                 
027220,004958: 31,2127           02207                           STORE    WWVEL                                 
027221,004959: 31,2130           77770                           AXT,1                                          
027222,004960: 31,2131           00066                           DEC      54         B-14                       
027223,004961: 31,2132           47573        NXPOSVEL           VLOAD*   VSQ                                   
027224,004962: 31,2133           02467                                    W          +54D,1                     
027225,004963: 31,2134           77615                           DAD                                            
027226,004964: 31,2135           02205                                    WWPOS                                 
027227,004965: 31,2136           02205                           STORE    WWPOS                                 
027228,004966: 31,2137           47573                           VLOAD*   VSQ                                   
027229,004967: 31,2140           02555                                    W          +108D,1                    
027230,004968: 31,2141           77615                           DAD                                            
027231,004969: 31,2142           02207                                    WWVEL                                 
027232,004970: 

Page 621

027234,004972: 31,2143           02207                           STORE    WWVEL                                 
027235,004973: 31,2144           75500                           TIX,1    SQRT                                  
027236,004974: 31,2145           62132                                    NXPOSVEL                              
027237,004975: 31,2146           16207                           STODL    WWVEL                                 
027238,004976: 31,2147           02205                                    WWPOS                                 
027239,004977: 31,2150           77766                           SQRT                                           
027240,004978: 31,2151           02205                           STORE    WWPOS                                 
027241,004979: 31,2152           52000                           BOV      GOTO                                  
027242,004980: 31,2153           62155                                    +2                                    
027243,004981: 31,2154           62161                                    V67XXX                                
027244,004982: 31,2155           77745                           DLOAD                                          
027245,004983: 31,2156           06432                                    DPPOSMAX                              
027246,004984: 31,2157           02205                           STORE    WWPOS                                 
027247,004985: 31,2160           02207                           STORE    WWVEL                                 
027248,004986: 31,2161           66150        V67XXX             LXA,1    SXA,1                                 
027249,004987: 31,2162           00051                                    S2                                    
027250,004988: 31,2163           00052                                    QPRET                                 
027251,004989: 31,2164           77776                           EXIT                                           
027252,004990: 31,2165           04635                           TC       POSTJUMP                              
027253,004991: 31,2166           27427                           CADR     INTWAKE                               
027254,004992: 
027255,004993: 31,2167           22363 11620  1/SQRT3            2DEC     0.5773502                             
027256,004994: 31,2171           01543        V06N99             VN       0699                                  
027257,004995: 

Page 622

027259,004997: 25,3607                                           BANK     25                                    
027260,004998: 25,2000                                           SETLOC   RADARUPT                              
027261,004999: 25,2000                                           BANK                                           
027262,005000: 25,3607                                           COUNT*   $$/RRUPT                              
027263,005001: 
027264,005002: 25,3607  E7,1454                                  EBANK=   LOSCOUNT                              
027265,005003: 
027266,005004: 25,3607           34753        R12LITES           CA       ONE                                   
027267,005005: 25,3610           71303                           MASK     IMODES33                              
027268,005006: 25,3611           10000                           CCS      A                                     
027269,005007: 25,3612           14707                           TCF      ISWRETRN                              
027270,005008: 
027271,005009: 25,3613           03630                           TC       HLIGHT                                
027272,005010: 25,3614           03625                           TC       HLIGHT     -3                         
027273,005011: 25,3615           14707                           TCF      ISWRETRN                              
027274,005012: 
027275,005013: 25,3616           34753        RADLITES           CA       BIT1                                  
027276,005014: 25,3617           71303                           MASK     IMODES33                              
027277,005015: 25,3620           10000                           CCS      A                                     
027278,005016: 25,3621           00002                           TC       Q                                     
027279,005017: 
027280,005018: 25,3622           44747                           CS       BIT5                                  
027281,005019: 25,3623           60061                           AD       ITEMP1                                
027282,005020: 25,3624           10000                           CCS      A                                     
027283,005021: 25,3625           44753                           CS       ONE                                   
027284,005022: 25,3626           13664                           TCF      VLIGHT                                
027285,005023: 
027286,005024: 25,3627           14570                           TCF      RRTRKF                                
027287,005025: 
027288,005026: 25,3630           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
027289,005027: 
027290,005028: 25,3631           34747                           CA       HLITE                                 
027291,005029: 25,3632           54001                           TS       L                                     
027292,005030: 
027293,005031: 25,3633           30107                           CA       FLGWRD11                              
027294,005032: 25,3634           74751                           MASK     SCABBIT                               
027295,005033: 25,3635           10000                           CCS      A                                     
027296,005034: 25,3636           13656                           TCF      ONLITES                               
027297,005035: 25,3637           34747                           CA       BIT5                                  
027298,005036: 25,3640           70110        BOTHLITS           MASK     RADMODES                              
027299,005037: 25,3641           10000                           CCS      A                                     
027300,005038: 25,3642           13656                           TCF      ONLITES                               
027301,005039: 
027302,005040: 25,3643           30107                           CA       FLGWRD11                              
027303,005041: 25,3644           50065                           INDEX    ITEMP5                                
027304,005042: 25,3645           74753                           MASK     HFLSHBIT                              
027305,005043: 25,3646           10000                           CCS      A                                     
027306,005044: 25,3647           14570                           TCF      RRTRKF                                
027307,005045: 

Page 623

027309,005047: 25,3650           00006        LITIT              EXTEND                                         
027310,005048: 25,3651           22066                           QXCH     ITEMP6                                
027311,005049: 25,3652           04602                           TC       TRKFLON    +1                         
027312,005050: 
027313,005051: 25,3653           00006                           EXTEND                                         
027314,005052: 25,3654           22066                           QXCH     ITEMP6                                
027315,005053: 25,3655           14570                           TCF      RRTRKF                                
027316,005054: 
027317,005055: 
027318,005056: 25,3656           50065        ONLITES            INDEX    ITEMP5                                
027319,005057: 25,3657           44753                           CS       HFLSHBIT                              
027320,005058: 25,3660           70107                           MASK     FLGWRD11                              
027321,005059: 25,3661           54107                           TS       FLGWRD11                              
027322,005060: 
027323,005061: 25,3662           30001                           CA       L                                     
027324,005062: 25,3663           13650                           TCF      LITIT                                 
027325,005063: 25,3664           54065        VLIGHT             TS       ITEMP5                                
027326,005064: 25,3665           34751                           CA       VLITE                                 
027327,005065: 25,3666           54001                           TS       L                                     
027328,005066: 25,3667           34744                           CA       BIT8                                  
027329,005067: 25,3670           13640                           TCF      BOTHLITS                              
027330,005068: 
027331,005069: 25,3671     4747               HLITE              EQUALS   BIT5                                  
027332,005070: 25,3671     4751               VLITE              EQUALS   BIT3                                  

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