Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	16:27 JULY 14,1969
Note that the date is the date of the printout, not the date of the program revision.

021213,000002:                                                                                                  ## Copyright:   Public domain.
021214,000003:                                                                                                  ## Filename:    P20-P25.agc
021215,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
021216,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
021217,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
021218,000007:                                                                                                  ## Assembler:   yaYUL
021219,000008:                                                                                                  ## Contact:     Onno Hommes <ohommes@cmu.edu>.
021220,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
021221,000010:                                                                                                  ## Pages:       0492-0613
021222,000011:                                                                                                  ## Mod history: 2009-05-26 OH   Transcribed from page images.
021223,000012:                                                                                                  ##              2009-06-05 RSB  Corrected a typos.
021224,000013:                                                                                                  ##              2009-06-06 RSB  Added a missing instruction, and a block
021225,000014:                                                                                                  ##                              of 3 missing instructions.
021226,000015:                                                                                                  ##              2009-06-07 RSB  Fixed a misprint.
021227,000016:                                                                                                  ##              2009-06-07 RSB  Changed the construct "2DEC E-6 B12" 
021228,000017:                                                                                                  ##                              (which isn't legal in yaYUL) to
021229,000018:                                                                                                  ##                              "2DEC 1.0 E-6 B12".
021230,000019:                                                                                                  ##              2011-05-07 JL   Removed workarounds.
021231,000020:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
021232,000021:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
021233,000022:                                                                                                  ##                              and corrected the errors found.
021234,000023:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
021235,000024:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
021236,000025:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
021237,000026:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
021238,000027:                                                                                                  ##              2021-05-30 ABS  R21LEMB -> R21LEM8
021239,000028:                                                                                                  ##                              $$/r29 -> $$/R29
021240,000029:                                                                                                  ##                              R29REM0J -> R29REMOJ
021241,000030: 
021242,000031:                                                                                                  ## This source code has been transcribed or otherwise adapted from
021243,000032:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
021244,000033:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
021245,000034:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
021246,000035:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
021247,000036:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
021248,000037:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
021249,000038:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
021250,000039:                                                                                                  ## actually created.
021251,000040:                                                                                                  ##
021252,000041:                                                                                                  ## Notations on the hardcopy document read, in part:
021253,000042:                                                                                                  ##
021254,000043:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
021255,000044:                                                                                                  ##      16:27 JULY 14, 1969 
021256,000045: 

Page 492

021258,000047:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
021259,000048: 
021260,000049:                                                                                                  #  PROGRAM DESCRIPTION
021261,000050: 
021262,000051:                                                                                                  #        MOD NO - 2
021263,000052:                                                                                                  #        BY P. VOLANTE
021264,000053: 
021265,000054:                                                                                                  #  FUNCTIONAL DESCRIPTION
021266,000055: 
021267,000056:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021268,000057:                                                                                                  #        STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER 
021269,000058:                                                                                                  #        THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021270,000059:                                                                                                  #        ON THE BASIS OF THE RR TRACKING DATA.
021271,000060: 
021272,000061:                                                                                                  #  CALLING SEQUENCE -
021273,000062: 
021274,000063:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E20E
021275,000064: 
021276,000065:                                                                                                  #  SUBROUTINES CALLED
021277,000066: 
021278,000067:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      FLAGUP
021279,000068:                                                                                                  #        GOFLASH (PINBALL-DISPLAY)                       FLAGDOWN
021280,000069:                                                                                                  #        R23LEM  (MANUAL ACQUISITION)                    BANKCALL
021281,000070:                                                                                                  #        LS201   (LOS DETERMINATION)                     TASKOVER
021282,000071:                                                                                                  #        LS202   (RANGE LIMIT TEST)
021283,000072:                                                                                                  #        R61LEM  (PREFERRED TRACKING ATTITUDE)
021284,000073:                                                                                                  #        R21LEM  (RR DESIGNATE)                          ENDOFJOB
021285,000074:                                                                                                  #        R22LEM  (DATA READ)                             GOPERF1
021286,000075:                                                                                                  #        R31LEM  (RENDEZVOUS PARAMETER DISPLAY)  
021287,000076:                                                                                                  #        PRIOLARM (PRIORITY DISPLAY)
021288,000077: 
021289,000078:                                                                                                  #  NORMAL EXIT MODES -
021290,000079: 
021291,000080:                                                                                                  #        P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021292,000081:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021293,000082: 
021294,000083:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021295,000084: 
021296,000085:                                                                                                  #        RANGE GREATER THAN 400 NM DISPLAY
021297,000086: 
021298,000087:                                                                                                  #  OUTPUT
021299,000088: 
021300,000089:                                                                                                  #        TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021301,000090: 
021302,000091:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021303,000092: 
021304,000093:                                                                                                  #  FLAGS SET + RESET
021305,000094: 
021306,000095:                                                                                                  #        SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021307,000096: 
021308,000097:                                                                                                  #  DEBRIS
021309,000098: 
021310,000099:                                                                                                  #        CENTRALS - A,Q,L
021311,000100: 
021312,000101: 25,2062  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
021313,000102: 
021314,000103: 33,2045                                           BANK     33                                    
021315,000104: 24,2000                                           SETLOC   P20S                                  
021316,000105: 24,2000                                           BANK                                           
021317,000106: 
021318,000107: 24,2000  E7,1456                                  EBANK=   LOSCOUNT                              
021319,000108: 24,2000                                           COUNT*   $$/P20                                
021320,000109: 24,2000  24,2000               PROG22             =        PROG20                                
021321,000110: 24,2000           05327        PROG20             TC       2PHSCHNG                              
021322,000111: 24,2001           00004                           OCT      4                                     
021323,000112: 24,2002           05022                           OCT      05022                                 
021324,000113: 24,2003           26000                           OCT      26000                                 #  PRIORITY 26
021325,000114: 24,2004           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE

Page 493

021327,000116: 24,2005           02007                           TC       ORBCHGO                               #  YES
021328,000117: 24,2006           02036                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
021329,000118: 24,2007           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
021330,000119: 24,2010           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
021331,000120: 24,2011           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
021332,000121: 24,2012           55145                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
021333,000122: 24,2013           32311                           CAF      OCT00012                              
021334,000123: 24,2014           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
021335,000124: 24,2015           20633                           CADR     GOPERF4                               
021336,000125: 24,2016           06001                           TC       GOTOPOOH                              #  TERMINATE
021337,000126: 24,2017           02021                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
021338,000127: 24,2020           02013                           TC       -5                                    #  R2 LOADED THRU DSKY
021339,000128: 24,2021           42312        ORBCHG1            CS       P22ONE                                
021340,000129: 24,2022           61145                           AD       OPTION2                               
021341,000130: 24,2023           00006                           EXTEND                                         
021342,000131: 24,2024           12040                           BZF      PROG20A                               
021343,000132: 24,2025           32315                           CAF      V06N33*                               
021344,000133: 24,2026           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
021345,000134: 24,2027           20476                           CADR     GOFLASH                               #  TIME OF LAUNCH
021346,000135: 24,2030           06001                           TC       GOTOPOOH                              #  TERMINATE
021347,000136: 24,2031           02033                           TC       ORBCHG2                               #  PROCEED VALUES OK
021348,000137: 24,2032           02025                           TC       -5                                    #  TIME LOADED THRU DSKY
021349,000138: 24,2033           06037        ORBCHG2            TC       INTPRET                               
021350,000139: 24,2034           77650                           GOTO                                           
021351,000140: 24,2035           64217                                    ORBCHG3                               
021352,000141: 32,2217                                           BANK     32                                    
021353,000142: 32,2000                                           SETLOC   P20S4                                 
021354,000143: 32,2000                                           BANK                                           
021355,000144: 32,2217                                           COUNT*   $$/P20                                
021356,000145: 
021357,000146: 32,2217           77624        ORBCHG3            CALL                                           
021358,000147: 32,2220           27414                                    INTSTALL                              
021359,000148: 32,2221           77745                           DLOAD                                          
021360,000149: 32,2222           03442                                    TIG                                   
021361,000150: 32,2223           03661                           STORE    LNCHTM                                
021362,000151: 32,2224           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
021363,000152: 32,2225           43014                           CLEAR    CLEAR                                 
021364,000153: 32,2226           01674                                    VINTFLAG                              #  LM INTEGRATION
021365,000154: 32,2227           01673                                    INTYPFLG                              #  PRECISION - ENCKE
021366,000155: 32,2230           43014                           CLEAR    CLEAR                                 
021367,000156: 32,2231           01676                                    DIM0FLAG                              #  NO W-MATRIX
021368,000157: 32,2232           01675                                    D6OR9FLG                              
021369,000158: 32,2233           77624                           CALL                                           
021370,000159: 32,2234           27134                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
021371,000160: 32,2235           77624                           CALL                                           
021372,000161: 32,2236           11244                                    GRP2PC                                
021373,000162: 32,2237           77775                           VLOAD                                          
021374,000163: 32,2240           00017                                    RATT1                                 
021375,000164: 32,2241           17631                           STODL    RSUBL                                 #  SAVE LM POSITION
021376,000165: 32,2242           00015                                    TAT                                   

Page 494

021378,000167: 32,2243           34041                           STCALL   TDEC1                                 
021379,000168: 32,2244           27414                                    INTSTALL                              
021380,000169: 32,2245           43014                           SET      CLEAR                                 
021381,000170: 32,2246           01474                                    VINTFLAG                              #  CSM INTEGRATION
021382,000171: 32,2247           01673                                    INTYPFLG                              
021383,000172: 32,2250           43014                           CLEAR    BOFF                                  
021384,000173: 32,2251           01676                                    DIM0FLAG                              
021385,000174: 32,2252           02756                                    RENDWFLG                              #  W MATRIX VALID
021386,000175: 32,2253           64257                                    NOWMATX                               #  NO
021387,000176: 32,2254           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
021388,000177: 32,2255           01476                                    DIM0FLAG                              
021389,000178: 32,2256           01475                                    D6OR9FLG                              
021390,000179: 32,2257           77624        NOWMATX            CALL                                           
021391,000180: 32,2260           27134                                    INTEGRV                               #  CSM INTEGRATION
021392,000181: 32,2261           77624                           CALL                                           
021393,000182: 32,2262           11244                                    GRP2PC                                
021394,000183: 32,2263           77775                           VLOAD                                          
021395,000184: 32,2264           00025                                    VATT1                                 
021396,000185: 32,2265           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
021397,000186: 32,2266           00017                                    RATT1                                 
021398,000187: 32,2267           01102                           STORE    RSUBC                                 #  SAVE CSM POSITION
021399,000188: 32,2270           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021400,000189: 32,2271           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
021401,000190: 32,2272           24025                           STOVL    20D                                   #  SAVE NSUB1
021402,000191: 32,2273           03631                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
021403,000192: 32,2274           53435                           VXV      UNIT                                  #  PLANE CHANGE
021404,000193: 32,2275           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
021405,000194: 32,2276           27637                           STOVL    UCSM                                  
021406,000195: 32,2277           01102                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
021407,000196: 32,2300           50256                           UNIT     DOT                                   #  AND RSUBC
021408,000197: 32,2301           03637                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
021409,000198: 32,2302           77752                           SL1                                            
021410,000199: 32,2303           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
021411,000200: 32,2304           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
021412,000201: 32,2305           10314                                    ONEB-2                                
021413,000202: 32,2306           77766                           SQRT                                           
021414,000203: 32,2307           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
021415,000204: 32,2310           01102                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
021416,000205: 32,2311           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
021417,000206: 32,2312           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
021418,000207: 32,2313           77676                           VCOMP                                          
021419,000208: 32,2314           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
021420,000209: 32,2315           45014                           CLEAR    CALL                                  
021421,000210: 32,2316           03666                                    RVSW                                  
021422,000211: 32,2317           24732                                    TIMETHET                              
021423,000212: 32,2320           77676                           VCOMP                                          
021424,000213: 32,2321           03645                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
021425,000214: 32,2322           77745                           DLOAD                                          
021426,000215: 32,2323           00037                                    T                                     
021427,000216: 32,2324           27663                           STOVL    TRANSTM                               #  TRANSFER TIME

Page 495

021429,000218: 32,2325           03645                                    NEWVEL                                
021430,000219: 32,2326           77646                           ABVAL                                          
021431,000220: 32,2327           24025                           STOVL    20D                                   
021432,000221: 32,2330           00001                                    0D                                    
021433,000222: 32,2331           03653                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
021434,000223: 32,2332           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021435,000224: 32,2333           03631                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
021436,000225: 32,2334           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
021437,000226: 32,2335           03653                                    NEWPOS                                #  ORBITAL PLANE
021438,000227: 32,2336           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
021439,000228: 32,2337           00025                                    20D                                   
021440,000229: 32,2340           37665                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
021441,000230: 32,2341           11244                                    GRP2PC                                
021442,000231: 32,2342           77624                           CALL                                           
021443,000232: 32,2343           27414                                    INTSTALL                              
021444,000233: 32,2344           44345                           DLOAD    BDSU                                  
021445,000234: 32,2345           03663                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
021446,000235: 32,2346           03661                                    LNCHTM                                
021447,000236: 32,2347           25517                           STOVL    TET                                   
021448,000237: 32,2350           03653                                    NEWPOS                                
021449,000238: 32,2351           01535                           STORE    RCV                                   
021450,000239: 32,2352           25503                           STOVL    RRECT                                 
021451,000240: 32,2353           03665                                    NCSMVEL                               
021452,000241: 32,2354           35511                           STCALL   VRECT                                 
021453,000242: 32,2355           23455                                    MINIRECT                              
021454,000243: 32,2356           45174                           AXT,2    CALL                                  
021455,000244: 32,2357           00002                                    2                                     
021456,000245: 32,2360           26661                                    ATOPCSM                               
021457,000246: 32,2361           77624                           CALL                                           
021458,000247: 32,2362           27423                                    INTWAKE0                              
021459,000248: 32,2363           77776                           EXIT                                           
021460,000249: 32,2364           04616                           TC       BANKCALL                              
021461,000250: 32,2365           50040                           CADR     PROG20A                               
021462,000251: 
021463,000252: 24,2036                                           BANK     24                                    
021464,000253: 24,2000                                           SETLOC   P20S                                  
021465,000254: 24,2000                                           BANK                                           
021466,000255: 24,2036                                           COUNT*   $$/P20                                
021467,000256: 
021468,000257: 24,2036           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG - LM STATE VECTOR
021469,000258: 24,2037           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
021470,000259: 24,2040           04616        PROG20A            TC       BANKCALL                              
021471,000260: 24,2041           11254                           CADR     R02BOTH                               
021472,000261: 24,2042           05504                           TC       UPFLAG                                
021473,000262: 24,2043           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
021474,000263: 24,2044           05504                           TC       UPFLAG                                
021475,000264: 24,2045           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021476,000265: 24,2046           05504                           TC       UPFLAG                                
021477,000266: 24,2047           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
021478,000267: 24,2050           05516                           TC       DOWNFLAG                              
021479,000268: 24,2051           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF

Page 496

021481,000270: 24,2052           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
021482,000271: 24,2053           00040                           ADRES    ACMODFLG                              
021483,000272: 24,2054           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
021484,000273: 24,2055           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
021485,000274: 24,2056           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
021486,000275: 24,2057           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
021487,000276: 24,2060           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
021488,000277: 24,2061           00041                           ADRES    LOSCMFLG                              
021489,000278: 24,2062           06011                           TC       CLRADMOD                              
021490,000279: 24,2063           05353        P20LEM1            TC       PHASCHNG                              
021491,000280: 24,2064           04022                           OCT      04022                                 
021492,000281: 24,2065           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
021493,000282: 24,2066           55462                           TS       MARKCTR                               
021494,000283: 24,2067           06037                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
021495,000284: 24,2070           77634                           RTB                                            
021496,000285: 24,2071           21573                                    LOADTIME                              
021497,000286: 24,2072           34041                           STCALL   TDEC1                                 
021498,000287: 24,2073           51255                                    LPS20.1                               
021499,000288: 24,2074           77624                           CALL                                           
021500,000289: 24,2075           53565                                    LPS20.2                               #  TEST RANGE R/UTINE
021501,000290: 24,2076           77776                           EXIT                                           
021502,000291: 24,2077           50154                           INDEX    MPAC                                  
021503,000292: 24,2100           02101                           TC       +1                                    
021504,000293: 24,2101           02111                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
021505,000294: 24,2102           32305        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
021506,000295: 24,2103           04616                           TC       BANKCALL                              
021507,000296: 24,2104           21562                           CADR     PRIOLARM                              
021508,000297: 24,2105           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021509,000298: 24,2106           02102                           TC       -4                                    #  PROC (ILLEGAL
021510,000299: 24,2107           02063                           TC       P20LEM1                               #  ENTER RECYCLE
021511,000300: 24,2110           05155                           TC       ENDOFJOB                              
021512,000301: 
021513,000302: 24,2111           05353        P20LEMA            TC       PHASCHNG                              
021514,000303: 24,2112           04022                           OCT      04022                                 
021515,000304: 24,2113           02667                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
021516,000305: 24,2114           02117                           TC       P20LEMB                               
021517,000306: 24,2115           04616                           TC       BANKCALL                              
021518,000307: 24,2116           46116                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
021519,000308: 24,2117           05353        P20LEMB            TC       PHASCHNG                              
021520,000309: 24,2120           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
021521,000310: 24,2121           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
021522,000311: 24,2122           37714                           CAF      PRIO26                                #  RESTORE PRIORITY 26
021523,000312: 24,2123           05146                           TC       PRIOCHNG                              
021524,000313: 24,2124           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
021525,000314: 24,2125           74747                           MASK     TRACKBIT                              
021526,000315: 24,2126           00006                           EXTEND                                         
021527,000316: 24,2127           12232                           BZF      P20LEMWT                              #  BRANCH - NO - WAIT FOR IT TO BE SET
021528,000317: 24,2130           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
021529,000318: 24,2131           00006                           EXTEND                                         

Page 497

021531,000320: 24,2132           02033                           RAND     CHAN33                                
021532,000321: 24,2133           00006                           EXTEND                                         
021533,000322: 24,2134           12170                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
021534,000323: 
021535,000324: 24,2135           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
021536,000325: 24,2136           61011                           AD       MODREG                                #  MAJOR MODE IS 20
021537,000326: 24,2137           00006                           EXTEND                                         
021538,000327: 24,2140           12153                           BZF      P20LEMB6                              #  BRANCH - YES - OK TO DO PLEASE PERFORM
021539,000328: 
021540,000329: 24,2141           67746                           AD       NEG2                                  #  ALSO CHECK FOR P22
021541,000330: 24,2142           00006                           EXTEND                                         
021542,000331: 24,2143           12153                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
021543,000332: 24,2144           32307                           CAF      ALRM514                               #  TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021544,000333: 24,2145           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
021545,000334: 24,2146           21562                           CADR     PRIOLARM                              
021546,000335: 24,2147           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
021547,000336: 24,2150           02117                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
021548,000337: 24,2151           02117                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
021549,000338: 24,2152           05155                           TC       ENDOFJOB                              
021550,000339: 24,2153           32306        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
021551,000340: 24,2154           04616                           TC       BANKCALL                              
021552,000341: 24,2155           20623                           CADR     GOPERF1                               
021553,000342: 24,2156           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021554,000343: 24,2157           02117                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021555,000344: 24,2160           02667                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
021556,000345: 24,2161           02166                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021557,000346: 24,2162           03135                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
021558,000347: 
021559,000348: 24,2163           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
021560,000349: 24,2164           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
021561,000350: 24,2165           02117                           TC       P20LEMB                               #  RR AUTO MODE
021562,000351: 
021563,000352: 24,2166           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
021564,000353: 24,2167           02117                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
021565,000354: 
021566,000355: 24,2170           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021567,000356: 24,2171           74737                           MASK     RCDU0BIT                              
021568,000357: 24,2172           00006                           EXTEND                                         
021569,000358: 24,2173           12205                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
021570,000359: 24,2174           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
021571,000360: 24,2175           70076                           MASK     FLAGWRD2                              
021572,000361: 24,2176           00006                           EXTEND                                         
021573,000362: 24,2177           12211                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
021574,000363: 24,2200           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
021575,000364: 24,2201           00037                           ADRES    SRCHOPTN                              

Page 498

021577,000366: 24,2202           05516                           TC       DOWNFLAG                              
021578,000367: 24,2203           00040                           ADRES    ACMODFLG                              
021579,000368: 24,2204           02232                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021580,000369: 
021581,000370: 24,2205           32304        P20LEMB4           CAF      250DEC                                
021582,000371: 24,2206           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021583,000372: 24,2207           01735                           CADR     DELAYJOB                              #  ZEROED - THEN GO BACK AND CHECK AGAIN
021584,000373: 24,2210           02170                           TC       P20LEMB3                              
021585,000374: 
021586,000375: 24,2211           06037        P20LEMC3           TC       INTPRET                               
021587,000376: 24,2212           77634                           RTB                                            
021588,000377: 24,2213           21573                                    LOADTIME                              
021589,000378: 24,2214           34041                           STCALL   TDEC1                                 
021590,000379: 24,2215           50316                                    UPPSV                                 
021591,000380: 24,2216           77776        P20LEMC4           EXIT                                           
021592,000381: 24,2217           05353        P20LEMC            TC       PHASCHNG                              
021593,000382: 24,2220           04022                           OCT      04022                                 
021594,000383: 24,2221           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
021595,000384: 24,2222           74745                           MASK     RNDVZBIT                              
021596,000385: 24,2223           00006                           EXTEND                                         
021597,000386: 24,2224           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
021598,000387: 24,2225           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021599,000388: 24,2226           74747                           MASK     TRACKBIT                              
021600,000389: 24,2227           00006                           EXTEND                                         
021601,000390: 24,2230           12264                           BZF      P20LEMD                               #  BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021602,000391: 24,2231           02674        P20LEMF            TC       R21LEM                                
021603,000392: 
021604,000393: 24,2232           32304        P20LEMWT           CAF      250DEC                                
021605,000394: 24,2233           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
021606,000395: 24,2234           02244                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
021607,000396: 24,2235           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021608,000397: 24,2236           74747                           MASK     TRACKBIT                              
021609,000398: 24,2237           00006                           EXTEND                                         
021610,000399: 24,2240           15155                           BZF      ENDOFJOB                              #  NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021611,000400: 24,2241           05353        P20LMWT1           TC       PHASCHNG                              
021612,000401: 24,2242           40072                           OCT      40072                                 
021613,000402: 24,2243           05155                           TC       ENDOFJOB                              
021614,000403: 
021615,000404: 24,2244           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
021616,000405: 24,2245           74745                           MASK     RNDVZBIT                              
021617,000406: 24,2246           00006                           EXTEND                                         
021618,000407: 24,2247           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
021619,000408: 24,2250           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021620,000409: 24,2251           74747                           MASK     TRACKBIT                              
021621,000410: 24,2252           00006                           EXTEND                                         
021622,000411: 24,2253           12261                           BZF      P20LEMC2                              #  NO - DONT SCHEDULE R22 JOB

Page 499

021624,000413: 24,2254           37714                           CAF      PRIO26                                #  YES - SCHEDULE R22 JOB (RR DATA READ)
021625,000414: 24,2255           05105                           TC       FINDVAC                               
021626,000415: 24,2256  E7,1456                                  EBANK=   LOSCOUNT                              
021627,000416: 24,2256           02627 50067                     2CADR    R22LEM42                              
021628,000417: 
021629,000418: 24,2260           05261                           TC       TASKOVER                              
021630,000419: 
021631,000420: 24,2261           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET, WAIT 15 SECONDS
021632,000421: 24,2262           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
021633,000422: 
021634,000423: 24,2263           02244                           TC       P20LEMC1                              
021635,000424: 
021636,000425: 24,2264           32666        P20LEMD            CAF      1500DEC                               
021637,000426: 24,2265           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
021638,000427: 24,2266           02270                           ADRES    P20LEMD1                              
021639,000428: 24,2267           05155                           TC       ENDOFJOB                              
021640,000429: 
021641,000430: 24,2270           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021642,000431: 24,2271           74747                           MASK     TRACKBIT                              
021643,000432: 24,2272           10000                           CCS      A                                     
021644,000433: 24,2273           12277                           TCF      P20LEMD2                              #  YES - SCHEDULE DESIGNATE JOB
021645,000434: 24,2274           05221                           TC       FIXDELAY                              #  NO - WAIT 15 SECONDS
021646,000435: 24,2275           02734                           DEC      1500       B-14                       
021647,000436: 24,2276           02270                           TC       P20LEMD1                              
021648,000437: 
021649,000438: 24,2277           37714        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
021650,000439: 24,2300           05105                           TC       FINDVAC                               
021651,000440: 24,2301  E7,1456                                  EBANK=   LOSCOUNT                              
021652,000441: 24,2301           02211 50067                     2CADR    P20LEMC3                              #  START AT PERM.  MEMORY INTEGRATION
021653,000442: 
021654,000443: 24,2303           05261                           TC       TASKOVER                              
021655,000444: 
021656,000445: 24,2304           00372        250DEC             DEC      250        B-14                       
021657,000446: 24,2305           00526        ALRM526            OCT      00526                                 
021658,000447: 24,2306           00201        OCT201             OCT      00201                                 
021659,000448: 24,2307           00514        ALRM514            OCT      514                                   
021660,000449: 24,2310           00074        MAXTRIES           DEC      60         B-14                       
021661,000450: 24,2311           00012        OCT00012           OCT      00012                                 
021662,000451: 24,2312           00001        P22ONE             OCT      00001                                 
021663,000452: 24,2313           10000 00000  ONEB-2             2DEC     1.0        B-2                        
021664,000453: 
021665,000454: 24,2315           01441        V06N33*            VN       0633                                  
021666,000455: 24,2316           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
021667,000456: 24,2317           01757                                    LS21X                                 #        TO PRESENT TIME
021668,000457: 24,2320           27414                                    INTSTALL                              
021669,000458: 24,2321           77624                           CALL                                           

Page 500

021671,000460: 24,2322           26644                                    SETIFLGS                              
021672,000461: 24,2323           43014                           BOF      SET                                   #  IF W-MATRIX INVALID, DONT INTEGRATE IT
021673,000462: 24,2324           02756                                    RENDWFLG                              
021674,000463: 24,2325           50336                                    UPPSV1                                
021675,000464: 24,2326           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
021676,000465: 24,2327           43014                           BON      SET                                   
021677,000466: 24,2330           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
021678,000467: 24,2331           50333                                    UPPSV5                                
021679,000468: 24,2332           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
021680,000469: 24,2333           77614        UPPSV5             BOF                                            
021681,000470: 24,2334           00747                                    VEHUPFLG                              
021682,000471: 24,2335           50370                                    UPPSV3                                
021683,000472: 24,2336           77614        UPPSV1             SET                                            
021684,000473: 24,2337           01474                                    VINTFLAG                              
021685,000474: 24,2340           77624                           CALL                                           
021686,000475: 24,2341           27134                                    INTEGRV                               
021687,000476: 24,2342           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
021688,000477: 24,2343           11244                                    GRP2PC                                #  TO PROTECT INTEGRATION
021689,000478: 24,2344           77624                           CALL                                           
021690,000479: 24,2345           27414                                    INTSTALL                              
021691,000480: 24,2346           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
021692,000481: 24,2347           01571                                    TETCSM                                
021693,000482: 24,2350           01674                                    VINTFLAG                              
021694,000483: 24,2351           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
021695,000484: 24,2352           26644                                    SETIFLGS                              #        WITHOUT W-MATRIX
021696,000485: 24,2353           34041                           STCALL   TDEC1                                 
021697,000486: 24,2354           27134                                    INTEGRV                               
021698,000487: 24,2355           77214                           BOFF     VLOAD                                 
021699,000488: 24,2356           04347                                    SURFFLAG                              
021700,000489: 24,2357           50216                                    P20LEMC4                              
021701,000490: 24,2360           01661                                    RCVLEM                                
021702,000491: 24,2361           77742                           VSR2                                           
021703,000492: 24,2362           26352                           STOVL    LMPOS                                 
021704,000493: 24,2363           01667                                    VCVLEM                                
021705,000494: 24,2364           77742                           VSR2                                           
021706,000495: 24,2365           02360                           STORE    LMVEL                                 
021707,000496: 24,2366           77650                           GOTO                                           
021708,000497: 24,2367           01757                                    LS21X                                 
021709,000498: 
021710,000499: 24,2370           45014        UPPSV3             CLEAR    CALL                                  
021711,000500: 24,2371           01674                                    VINTFLAG                              
021712,000501: 24,2372           27134                                    INTEGRV                               
021713,000502: 24,2373           77624                           CALL                                           
021714,000503: 24,2374           11244                                    GRP2PC                                
021715,000504: 24,2375           77624                           CALL                                           
021716,000505: 24,2376           27414                                    INTSTALL                              
021717,000506: 24,2377           71214                           SET      DLOAD                                 
021718,000507: 24,2400           01474                                    VINTFLAG                              
021719,000508: 24,2401           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.

Page 501

021721,000510: 24,2402           77650                           GOTO                                           
021722,000511: 24,2403           50351                                    UPPSV4                                
021723,000512: 24,2404  E7,1456                                  EBANK=   LOSCOUNT                              
021724,000513: 24,2404                                           COUNT*   $$/P22                                
021725,000514: 

Page 502

021727,000516:                                                                                                  #  PROGRAM DESCRIPTION
021728,000517: 
021729,000518:                                                                                                  #        PREFERRED TRACKING ATTITUDE PROGRAM P25
021730,000519:                                                                                                  #        MOD NO - 3
021731,000520:                                                                                                  #        BY P. VOLANTE
021732,000521: 
021733,000522:                                                                                                  #  FUNCTIONAL DESCRIPTION
021734,000523: 
021735,000524:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021736,000525:                                                                                                  #        ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021737,000526:                                                                                                  #        CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021738,000527:                                                                                                  #        CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021739,000528: 
021740,000529:                                                                                                  #  CALLING SEQUENCE -
021741,000530: 
021742,000531:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E25E
021743,000532: 
021744,000533:                                                                                                  #  SUBROUTINES CALLED -
021745,000534: 
021746,000535:                                                                                                  #        BANKCALL                                        FLAGUP
021747,000536:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      ENDOFJOB
021748,000537:                                                                                                  #        R61LEM  (PREF TRK ATT ROUT)                     WAITLIST
021749,000538:                                                                                                  #        TASKOVER                                        FINDVAC
021750,000539: 
021751,000540:                                                                                                  #  NORMAL EXIT MODES -
021752,000541: 
021753,000542:                                                                                                  #        P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021754,000543:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021755,000544: 
021756,000545:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021757,000546: 
021758,000547:                                                                                                  #        NONE
021759,000548: 
021760,000549:                                                                                                  #  OUTPUT
021761,000550: 
021762,000551:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021763,000552: 
021764,000553:                                                                                                  #  FLAGS SET + RESET
021765,000554: 
021766,000555:                                                                                                  #        TRACKFLG, P25FLAG
021767,000556: 
021768,000557:                                                                                                  #  DEBRIS
021769,000558: 
021770,000559:                                                                                                  #        NONE
021771,000560: 
021772,000561: 24,2404  E7,1456                                  EBANK=   LOSCOUNT                              
021773,000562: 24,2404                                           COUNT*   $$/P25                                
021774,000563: 24,2404           05327        PROG25             TC       2PHSCHNG                              
021775,000564: 24,2405           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
021776,000565: 24,2406           05022                           OCT      05022                                 
021777,000566: 24,2407           26000                           OCT      26000                                 #  PRIORITY 26
021778,000567: 
021779,000568: 24,2410           04616                           TC       BANKCALL                              
021780,000569: 24,2411           11254                           CADR     R02BOTH                               #  IMU STATUS CHECK
021781,000570: 24,2412           05504                           TC       UPFLAG                                
021782,000571: 24,2413           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021783,000572: 24,2414           05504                           TC       UPFLAG                                
021784,000573: 24,2415           00006                           ADRES    P25FLAG                               #  SET P25FLAG
021785,000574: 24,2416           05353        P25LEM1            TC       PHASCHNG                              
021786,000575: 24,2417           04022                           OCT      04022                                 
021787,000576: 24,2420           34743                           CAF      P25FLBIT                              
021788,000577: 24,2421           70074                           MASK     STATE                                 #  IS P25FLAG SET
021789,000578: 24,2422           00006                           EXTEND                                         
021790,000579: 24,2423           15155                           BZF      ENDOFJOB                              
021791,000580: 24,2424           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021792,000581: 24,2425           70075                           MASK     STATE      +1                         
021793,000582: 24,2426           00006                           EXTEND                                         

Page 503

021795,000584: 24,2427           12437                           BZF      P25LMWT1                              #  NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021796,000585: 24,2430           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
021797,000586: 24,2431           55745                           TS       R65CNTR                               
021798,000587: 24,2432           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
021799,000588: 24,2433           46123                           CADR     R65LEM                                
021800,000589: 24,2434           02416                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
021801,000590: 24,2435           05353        P25LEMWT           TC       PHASCHNG                              
021802,000591: 24,2436           00112                           OCT      00112                                 
021803,000592: 24,2437           32450        P25LMWT1           CAF      60SCNDS                               
021804,000593: 24,2440           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
021805,000594: 24,2441           02443                           ADRES    P25LEM2                               
021806,000595: 24,2442           05155                           TC       ENDOFJOB                              
021807,000596: 24,2443           35024        P25LEM2            CAF      PRIO14                                
021808,000597: 24,2444           05105                           TC       FINDVAC                               
021809,000598: 24,2445  E7,1456                                  EBANK=   LOSCOUNT                              
021810,000599: 24,2445           02416 50067                     2CADR    P25LEM1                               
021811,000600: 
021812,000601: 24,2447           05261                           TC       TASKOVER                              
021813,000602: 24,2450           13560        60SCNDS            DEC      6000       B-14                       
021814,000603: 

Page 504

021816,000605:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
021817,000606:                                                                                                  #  PROGRAM DESCRIPTION
021818,000607: 
021819,000608:                                                                                                  #        MOD NO - 2
021820,000609:                                                                                                  #        BY P VOLANTE
021821,000610: 
021822,000611:                                                                                                  #  FUNCTIONAL DESCRIPTION
021823,000612: 
021824,000613:                                                                                                  #        TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021825,000614:                                                                                                  #        LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021826,000615: 
021827,000616:                                                                                                  #  CALLING SEQUENCE -
021828,000617: 
021829,000618:                                                                                                  #        TC      BANKCALL
021830,000619:                                                                                                  #        CADR    R22LEM
021831,000620: 
021832,000621:                                                                                                  #  SUBROUTINES CALLED -
021833,000622: 
021834,000623:                                                                                                  #        LSR22.1         GOFLASH         WAITLIST
021835,000624:                                                                                                  #        LSR22.2         PRIOLARM        BANKCALL
021836,000625:                                                                                                  #        LSR22.3         R61LEM
021837,000626: 
021838,000627:                                                                                                  #  NORMAL EXIT MODES -
021839,000628: 
021840,000629:                                                                                                  #        R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021841,000630:                                                                                                  #        UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021842,000631:                                                                                                  #        R22 WILL TERMINATE SELF.
021843,000632: 
021844,000633:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021845,000634: 
021846,000635:                                                                                                  #        PRIORITY ALARM
021847,000636:                                                                                                  #        PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021848,000637: 
021849,000638:                                                                                                  #  OUTPUT
021850,000639: 
021851,000640:                                                                                                  #        SEE OUTPUT FROM LSR22.3
021852,000641: 
021853,000642:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021854,000643: 
021855,000644:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021856,000645: 
021857,000646:                                                                                                  #  FLAGS SET + RESET
021858,000647: 
021859,000648:                                                                                                  #        NOANGFLG
021860,000649: 
021861,000650:                                                                                                  #  DEBRIS
021862,000651: 
021863,000652:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021864,000653: 
021865,000654: 24,2451  E7,1737                                  EBANK=   LRS22.1X                              
021866,000655: 24,2451                                           COUNT*   $$/R22                                
021867,000656: 24,2451           05353        R22LEM             TC       PHASCHNG                              
021868,000657: 24,2452           04022                           OCT      04022                                 
021869,000658: 24,2453           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
021870,000659: 24,2454           70074                           MASK     STATE                                 
021871,000660: 24,2455           00006                           EXTEND                                         
021872,000661: 24,2456           15155                           BZF      ENDOFJOB                              #  NO - EXIT R22 AND P20
021873,000662: 24,2457           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021874,000663: 24,2460           70075                           MASK     STATE      +1                         
021875,000664: 24,2461           00006                           EXTEND                                         
021876,000665: 24,2462           12636                           BZF      R22WAIT                               #  NO WAIT
021877,000666: 24,2463           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
021878,000667: 24,2464           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARSIT
021879,000668: 24,2465           02012                           RAND     CHAN12                                
021880,000669: 24,2466           00006                           EXTEND                                         
021881,000670: 24,2467           12111                           BZF      P20LEMA                               #  NO - RETURN TO P20
021882,000671: 24,2470           34752                           CAF      BIT2                                  #  YES
021883,000672: 24,2471           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
021884,000673: 24,2472           02033                           RAND     CHAN33                                

Page 505

021886,000675: 24,2473           00006                           EXTEND                                         
021887,000676: 24,2474           12476                           BZF      +2                                    #  YES CONTINUE
021888,000677: 24,2475           02135                           TC       P20LEMB5                              #  NO - SET IT
021889,000678: 24,2476           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021890,000679: 24,2477           74737                           MASK     RCDU0BIT                              
021891,000680: 24,2500           00006                           EXTEND                                         
021892,000681: 24,2501           12627                           BZF      R22LEM42                              #  CDUS BEING ZEROED
021893,000682: 24,2502           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS, AN EXTRA RADAR
021894,000683: 24,2503           00152                           OCT      00152                                 #  READING IS TAKEN, SO BAD DATA ISN'T USED
021895,000684: 24,2504           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
021896,000685: 24,2505           64366                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
021897,000686: 24,2506           50154                           INDEX    MPAC                                  
021898,000687: 24,2507           02510                           TC       +1                                    
021899,000688: 24,2510           02531                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
021900,000689: 24,2511           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021901,000690: 24,2512           32663                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
021902,000691: 24,2513           04616                           TC       BANKCALL                              
021903,000692: 24,2514           21562                           CADR     PRIOLARM                              
021904,000693: 24,2515           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021905,000694: 24,2516           02521                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
021906,000695: 24,2517           02512                           TC       -5                                    #  ENTER (ILLEGAL OPTION)
021907,000696: 24,2520           05155                           TC       ENDOFJOB                              
021908,000697: 
021909,000698: 24,2521           05353        R22LEM1            TC       PHASCHNG                              
021910,000699: 24,2522           04022                           OCT      04022                                 
021911,000700: 24,2523           32664                           CAF      V06N05                                #  DISPLAY DELTA THETA
021912,000701: 24,2524           04616                           TC       BANKCALL                              
021913,000702: 24,2525           20507                           CADR     PRIODSP                               
021914,000703: 24,2526           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021915,000704: 24,2527           02531                           TC       R22LEM2                               #  PROC (OK CONTINUE)
021916,000705: 24,2530           02217                           TC       P20LEMC                               #  ENTER (RECYCLE)
021917,000706: 24,2531           05353        R22LEM2            TC       PHASCHNG                              
021918,000707: 24,2532           04022                           OCT      04022                                 
021919,000708: 24,2533           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021920,000709: 24,2534           02551                           TC       R22LEM3                               #  YES - BYPASS FLAG CHECKS AND LRS22.2
021921,000710: 24,2535           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
021922,000711: 24,2536           74747                           MASK     TRACKBIT                              
021923,000712: 24,2537           00006                           EXTEND                                         
021924,000713: 24,2540           12636                           BZF      R22WAIT                               #  NO - WAIT
021925,000714: 24,2541           04616                           TC       BANKCALL                              #  YES
021926,000715: 24,2542           51333                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021927,000716: 24,2543           50154                           INDEX    MPAC                                  
021928,000717: 24,2544           02545                           TC       +1                                    
021929,000718: 24,2545           02551                           TC       R22LEM3                               #  NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021930,000719: 24,2546           04616                           TC       BANKCALL                              
021931,000720: 24,2547           46116                           CADR     R61LEM                                
021932,000721: 24,2550           02636                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
021933,000722: 24,2551           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
021934,000723: 24,2552           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)

Page 506

021936,000725: 24,2553           00006                           EXTEND                                         
021937,000726: 24,2554           12627                           BZF      R22LEM42                              #  BRANCH - YES
021938,000727: 24,2555           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
021939,000728: 24,2556           74745                           MASK     UPDATBIT                              
021940,000729: 24,2557           00006                           EXTEND                                         
021941,000730: 24,2560           12627                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
021942,000731: 24,2561           37714                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
021943,000732: 24,2562           55056                           TS       PHSPRDT2                              
021944,000733: 
021945,000734: 24,2563           06037                           TC       INTPRET                               
021946,000735: 24,2564           77650                           GOTO                                           
021947,000736: 24,2565           54412                                    LSR22.3                               
021948,000737: 24,2566           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
021949,000738: 24,2567           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
021950,000739: 24,2570           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
021951,000740: 24,2571           12622                           TCF      R22LEM44                              
021952,000741: 24,2572           77776        R22LEM96           EXIT                                           
021953,000742: 24,2573           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
021954,000743: 24,2574           55746                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
021955,000744: 24,2575           05353                           TC       PHASCHNG                              
021956,000745: 24,2576           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
021957,000746: 24,2577           37715                           CAF      PRIO27                                #  PROTECT DISPLAY
021958,000747: 24,2600           05072                           TC       NOVAC                                 
021959,000748: 24,2601  E7,1746                                  EBANK=   N49FLAG                               
021960,000749: 24,2601           02644 50067                     2CADR    N49DSP                                
021961,000750: 
021962,000751: 24,2603           06037                           TC       INTPRET                               
021963,000752: 24,2604           77735                           SLOAD                                          
021964,000753: 24,2605           03747                                    N49FLAG                               
021965,000754: 24,2606           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
021966,000755: 24,2607           50604                                    -3                                    #  SETTING CHANGED - BRANCH - NO
021967,000756: 24,2610           50616                                    R22LEM7                               #  PROCEED
021968,000757: 24,2611           77776                           EXIT                                           #  DISPLAY ANSWERED BY RECYCLE
021969,000758: 24,2612           02667                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021970,000759: 24,2613           02636                           TC       R22WAIT                               #  YES - 15 SECOND DELAY
021971,000760: 24,2614           34755                           CA       ZERO                                  #  NO - SET R65COUNTER = 0, DO FINE
021972,000761: 24,2615           02632                           TC       R22LEM45                              #  TRACKING TAKE ANOTHER RADAR READING
021973,000762: 24,2616           77624        R22LEM7            CALL                                           #  PROCEED
021974,000763: 24,2617           11244                                    GRP2PC                                #  PHASE CHANGE AND
021975,000764: 24,2620           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
021976,000765: 24,2621           55431                                    ASTOK                                 
021977,000766: 24,2622           25462        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
021978,000767: 24,2623           02667                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021979,000768: 24,2624           02640                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021980,000769: 24,2625           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
021981,000770: 24,2626           02632                           TC       R22LEM45                              #  R65COUNTER = 5
021982,000771: 24,2627           02667        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021983,000772: 24,2630           02640                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021984,000773: 24,2631           34752                           CA       TWO                                   #  NO - SET R65COUNTER = 2
021985,000774: 24,2632           55745        R22LEM45           TS       R65CNTR                               

Page 507

021987,000776: 24,2633           04616                           TC       BANKCALL                              
021988,000777: 24,2634           46123                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
021989,000778: 24,2635           02451                           TC       R22LEM                                
021990,000779: 24,2636           32666        R22WAIT            CAF      1500DEC                               
021991,000780: 24,2637           02233                           TC       P20LEMWT   +1                         
021992,000781: 
021993,000782: 24,2640           35000        R22LEM46           CAF      2SECS                                 
021994,000783: 24,2641           04616                           TC       BANKCALL                              #  WAIT 2 SECONDS AND TAKE ANOTHER MARK
021995,000784: 24,2642           01735                           CADR     DELAYJOB                              
021996,000785: 24,2643           02451                           TC       R22LEM                                
021997,000786: 
021998,000787: 24,2644           32665        N49DSP             CAF      V06N49NB                              
021999,000788: 24,2645           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
022000,000789: 24,2646           20507                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022001,000790: 24,2647           06022                           TC       GOTOV56                               #  TERMINATE - EXIT R22 AND P20
022002,000791: 24,2650           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
022003,000792: 24,2651           55746                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
022004,000793: 24,2652           05155                           TC       ENDOFJOB                              
022005,000794: 24,2653           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
022006,000795: 24,2654           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
022007,000796: 24,2655           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
022008,000797: 24,2656           53103                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
022009,000798: 24,2657           04616                           TC       BANKCALL                              #  BAD DATA
022010,000799: 24,2660           17714                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
022011,000800: 24,2661           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
022012,000801: 24,2662           02451                           TC       R22LEM                                #  READ SUCCESSFUL - CONTINUE AT R22
022013,000802: 
022014,000803: 24,2663           00525        ALRM525            OCT      00525                                 
022015,000804: 24,2664           01405        V06N05             VN       00605                                 
022016,000805: 24,2665           01461        V06N49NB           VN       00649                                 
022017,000806: 24,2666           02734        1500DEC            DEC      1500       B-14                       
022018,000807: 
022019,000808:                                                                                                  #  LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022020,000809:                                                                                                  #        RETURNS TO CALLER +1 IF P22FLAG SET
022021,000810:                                                                                                  #                TO CALLER +2 IF P22FLAG NOT SET
022022,000811: 
022023,000812: 24,2667                                           COUNT*   $$/P22                                
022024,000813: 24,2667           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
022025,000814: 24,2670           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
022026,000815: 24,2671           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
022027,000816: 24,2672           24002                           INCR     Q                                     #  NOT SET
022028,000817: 24,2673           00002                           TC       Q                                     #  RETURN
022029,000818: 

Page 508

022031,000820:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
022032,000821:                                                                                                  #  PROGRAM DESCRIPTION
022033,000822: 
022034,000823:                                                                                                  #        MOD NO - 2
022035,000824:                                                                                                  #        BY P VOLANTE
022036,000825: 
022037,000826:                                                                                                  #  FUNCTIONAL DESCRIPTION
022038,000827: 
022039,000828:                                                                                                  #        TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022040,000829:                                                                                                  #        OF THE CSM IS ACCOMPLISHED BY THE RADAR.  ROUTINE IS CALLED BY P20.
022041,000830: 
022042,000831:                                                                                                  #  CALLING SEQUENCE -
022043,000832: 
022044,000833:                                                                                                  #        TC      BANKCALL
022045,000834:                                                                                                  #        CADR    R21LEM
022046,000835: 
022047,000836:                                                                                                  #  SUBROUTINES CALLED -
022048,000837: 
022049,000838:                                                                                                  #        FINDVAC         FLAGUP          ENDOFJOB        PRIOLARM
022050,000839:                                                                                                  #        NOVAC           INTPRET         LPS20.1         PHASCHNG
022051,000840:                                                                                                  #        WAITLIST        JOBSLEEP        JOBWAKE         FLAGDOWN
022052,000841:                                                                                                  #        TASKOVER        BANKCALL        RADSTALL        RRDESSM
022053,000842: 
022054,000843:                                                                                                  #  NORMAL EXIT MODES
022055,000844:                                                                                                  #        
022056,000845:                                                                                                  #        WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022057,000846:                                                                                                  #        WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
022058,000847: 
022059,000848:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022060,000849: 
022061,000850:                                                                                                  #        PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022062,000851:                                                                                                  #        THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022063,000852:                                                                                                  #        ACQUISITION
022064,000853: 
022065,000854:                                                                                                  #  OUTPUT
022066,000855: 
022067,000856:                                                                                                  #        SEE LPS20.1, RRDESSM
022068,000857: 
022069,000858:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022070,000859: 
022071,000860:                                                                                                  #        RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
022072,000861: 
022073,000862:                                                                                                  #  FLAGS SET + RESET
022074,000863: 
022075,000864:                                                                                                  #        LOSCMFLG        LOKONSW
022076,000865: 
022077,000866:                                                                                                  #  DEBRIS
022078,000867: 
022079,000868:                                                                                                  #        SEE LPS20.1, RRDESSM
022080,000869: 
022081,000870: 24,2674  E7,1456                                  EBANK=   LOSCOUNT                              
022082,000871: 24,2674                                           COUNT*   $$/R21                                
022083,000872: 24,2674           44736        R21LEM             CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
022084,000873: 24,2675           00006                           EXTEND                                         
022085,000874: 24,2676           03012                           WAND     CHAN12                                
022086,000875: 24,2677           02667                           TC       LUNSFCHK                              
022087,000876: 24,2700           02705                           TC       R21LEM5                               
022088,000877: 24,2701           34755                           CAF      ZERO                                  #  COMMAND ANTENNA TO MODE CENTER
022089,000878: 24,2702           55107                           TS       TANG                                  #  IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
022090,000879: 24,2703           55110                           TS       TANG       +1                         
022091,000880: 24,2704           02715                           TC       R21LEM6                               
022092,000881: 24,2705           34740        R21LEM5            CAF      BIT12                                 
022093,000882: 24,2706           70110                           MASK     RADMODES                              
022094,000883: 24,2707           10000                           CCS      A                                     
022095,000884: 24,2710           02725                           TC       R21LEM10                              
022096,000885: 24,2711           34735                           CAF      BIT15                                 
022097,000886: 24,2712           55107                           TS       TANG                                  
022098,000887: 24,2713           44736                           CS       HALF                                  
022099,000888: 24,2714           55110                           TS       TANG       +1                         
022100,000889: 

Page 509

022102,000891: 24,2715           05516        R21LEM6            TC       DOWNFLAG                              
022103,000892: 24,2716           00012                           ADRES    LOKONSW                               
022104,000893: 24,2717           04616                           TC       BANKCALL                              
022105,000894: 24,2720           52475                           CADR     RRDESNB                               
022106,000895: 24,2721           02722                           TC       +1                                    
022107,000896: 24,2722           04616                           TC       BANKCALL                              
022108,000897: 24,2723           17714                           CADR     RADSTALL                              
022109,000898: 24,2724           02760                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE - ISSUE ALARM
022110,000899: 24,2725           05504        R21LEM10           TC       UPFLAG                                
022111,000900: 24,2726           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
022112,000901: 24,2727           32310                           CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECONDS)
022113,000902: 24,2730           55114                           TS       DESCOUNT                              #  TO DESIGNATE AND LOCK ON
022114,000903: 24,2731           36245        R21LEM2            CAF      THREE                                 
022115,000904: 24,2732           55456                           TS       LOSCOUNT                              
022116,000905: 24,2733           06037        R21LEM1            TC       INTPRET                               
022117,000906: 24,2734           43234                           RTB      DAD                                   
022118,000907: 24,2735           21573                                    LOADTIME                              
022119,000908: 24,2736           11120                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022120,000909: 24,2737           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
022121,000910: 24,2740           51255                                    LPS20.1                               
022122,000911: 24,2741           77776                           EXIT                                           
022123,000912: 24,2742           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR - ON DESIRED
022124,000913: 24,2743           00012                           ADRES    LOKONSW                               
022125,000914: 24,2744           05516                           TC       DOWNFLAG                              
022126,000915: 24,2745           00126                           ADRES    NORRMON                               
022127,000916: 24,2746           06037                           TC       INTPRET                               
022128,000917: 24,2747           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
022129,000918: 24,2750           52373                                    RRDESSM                               #  DESIGNATE ROUTINE
022130,000919: 24,2751           77776                           EXIT                                           
022131,000920: 24,2752           02777                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
022132,000921:                                                                                                  #  ON LUNAR SURFACE
022133,000922: 24,2753           02111                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
022134,000923: 24,2754           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
022135,000924: 24,2755           17714                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022136,000925: 24,2756           02760                           TC       +2                                    #  BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
022137,000926: 24,2757           02767                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022138,000927: 24,2760           32775        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
022139,000928: 24,2761           04616                           TC       BANKCALL                              
022140,000929: 24,2762           21562                           CADR     PRIOLARM                              
022141,000930: 24,2763           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022142,000931: 24,2764           02772                           TC       R21SRCH                               #  PROC
022143,000932: 24,2765           02211                           TC       P20LEMC3                              
022144,000933: 24,2766           05155                           TC       ENDOFJOB                              
022145,000934: 24,2767           05516        R21END             TC       DOWNFLAG                              
022146,000935: 24,2770           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
022147,000936: 24,2771           03121                           TC       R21DISP                               #  PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022148,000937: 24,2772           05353        R21SRCH            TC       PHASCHNG                              
022149,000938: 24,2773           04022                           OCT      04022                                 
022150,000939: 24,2774           03206                           TC       R24LEM                                #  SEARCH ROUTINE
022151,000940: 24,2775           00503        ALRM503            OCT      00503                                 

Page 510

022153,000942: 24,2776           00527        ALRM527            OCT      527                                   
022154,000943: 
022155,000944: 24,2777           32310        R21LEM4            CAF      MAXTRIES                              #  SET UP COUNTER FOR
022156,000945: 24,3000           55423                           TS       REPOSCNT                              #  60 PASSES (APPROX 600 SECS.)
022157,000946: 24,3001           05504                           TC       UPFLAG                                
022158,000947: 24,3002           00005                           ADRES    FSPASFLG                              #  SET FIRST PASS FLAG
022159,000948: 24,3003           05516                           TC       DOWNFLAG                              #  RESET LOS BEING
022160,000949: 24,3004           00041                           ADRES    LOSCMFLG                              #  COMPUTED FLAG
022161,000950: 24,3005           06037                           TC       INTPRET                               
022162,000951: 24,3006           77634        R21LEM12           RTB                                            
022163,000952: 24,3007           21573                                    LOADTIME                              
022164,000953: 24,3010           77615                           DAD                                            
022165,000954: 24,3011           11116                                    TENSEC                                #  TIME T = T + 10 SECS.
022166,000955: 24,3012           03425                           STORE    REPOSTM                               #  SAVE FOR LONGCALL AND UPPSV
022167,000956: 24,3013           34041                           STCALL   TDEC1                                 
022168,000957: 24,3014           51255                                    LPS20.1                               #  COMPUTE LOS AT TIME T
022169,000958: 24,3015           77624                           CALL                                           
022170,000959: 24,3016           52373                                    RRDESSM                               
022171,000960: 24,3017           77776                           EXIT                                           
022172,000961: 24,3020           03033                           TC       R21LEM13                              #  LOS NOT IN MODE 2 COVERAGE
022173,000962: 24,3021           05155                           TC       ENDOFJOB                              #  VEHICLE MANEUVER REQUIRED
022174,000963: 24,3022           06027                           TC       KILLTASK                              
022175,000964: 24,3023           52573                           CADR     BEGDES                                
022176,000965: 24,3024           06037                           TC       INTPRET                               
022177,000966: 24,3025           77614                           BOF                                            
022178,000967: 24,3026           00345                                    FSPASFLG                              #  FIRST PASS THRU REPOSITION
022179,000968: 24,3027           51043                                    R21LEM8                               #  NO - GO TO CONTINUOUS DESIGNATE
022180,000969: 24,3030           77614                           CLRGO                                          
022181,000970: 24,3031           00225                                    FSPASFLG                              #  YES - RESET FIRST PASS FLAG
022182,000971: 24,3032           51037                                    R21LEM7    +1                         
022183,000972: 24,3033           11423        R21LEM13           CCS      REPOSCNT                              #  HAVE WE TRIED 60 TIMES?
022184,000973: 24,3034           03036                           TC       R21LEM7                               #  NO - ADD 10 SECS.  RECOMPUTE LOS
022185,000974: 24,3035           03105                           TC       R21LEM11                              #  YES - PUT OUT ALARM 530
022186,000975: 24,3036           55423        R21LEM7            TS       REPOSCNT                              
022187,000976: 24,3037           06037                           TC       INTPRET                               
022188,000977: 24,3040           52145                           DLOAD    GOTO                                  
022189,000978: 24,3041           03425                                    REPOSTM                               
022190,000979: 24,3042           51010                                    R21LEM12   +2                         
022191,000980: 24,3043           77745        R21LEM8            DLOAD                                          
022192,000981: 24,3044           03425                                    REPOSTM                               
022193,000982: 24,3045           34041                           STCALL   TDEC1                                 
022194,000983: 24,3046           50316                                    UPPSV                                 
022195,000984: 24,3047           77776                           EXIT                                           
022196,000985: 24,3050           05504                           TC       UPFLAG                                #  SET RADMODES BIT 15 FOR
022197,000986: 24,3051           00264                           ADRES    CDESFLAG                              #  CONTINUOUS DESIGNATION
022198,000987: 24,3052           05516                           TC       DOWNFLAG                              
022199,000988: 24,3053           00012                           ADRES    LOKONSW                               
022200,000989: 24,3054           05504                           TC       UPFLAG                                
022201,000990: 24,3055           00126                           ADRES    NORRMON                               

Page 511

022203,000992: 24,3056           04616                           TC       BANKCALL                              
022204,000993: 24,3057           52475                           CADR     RRDESNB                               
022205,000994: 24,3060           03061                           TC       +1                                    
022206,000995: 24,3061           06037                           TC       INTPRET                               
022207,000996: 24,3062           44234                           RTB      BDSU                                  
022208,000997: 24,3063           21573                                    LOADTIME                              #  COMPUTE DELTA TIME
022209,000998: 24,3064           03425                                    REPOSTM                               #  FOR LONGCALL
022210,000999: 24,3065           03427                           STORE    DELTATM                               
022211,001000: 24,3066           77776                           EXIT                                           
022212,001001: 24,3067           00006                           EXTEND                                         
022213,001002: 24,3070           31427                           DCA      DELTATM                               
022214,001003: 24,3071           05277                           TC       LONGCALL                              
022215,001004: 24,3072  E7,1456                                  EBANK=   LOSCOUNT                              
022216,001005: 24,3072           03075 50067                     2CADR    R21LEM9                               
022217,001006: 
022218,001007: 24,3074           05155                           TC       ENDOFJOB                              
022219,001008: 24,3075           06027        R21LEM9            TC       KILLTASK                              
022220,001009: 24,3076           52602                           CADR     STDESIG                               
022221,001010: 24,3077           06011                           TC       CLRADMOD                              
022222,001011: 24,3100           37714                           CAF      PRIO26                                
022223,001012: 24,3101           05105                           TC       FINDVAC                               
022224,001013: 24,3102  E7,1456                                  EBANK=   LOSCOUNT                              
022225,001014: 24,3102           02725 50067                     2CADR    R21LEM10                              
022226,001015: 
022227,001016: 24,3104           05261                           TC       TASKOVER                              
022228,001017: 24,3105           33114        R21LEM11           CAF      ALRM530                               #  ALARM 530 - LOS NOT IN COVERAGE
022229,001018: 24,3106           04616                           TC       BANKCALL                              #  AFTER TRYING TO DESIGNATE FOR
022230,001019: 24,3107           21562                           CADR     PRIOLARM                              #  600 SECS.
022231,001020: 24,3110           06022                           TC       GOTOV56                               
022232,001021: 24,3111           06022                           TC       GOTOV56                               
022233,001022: 24,3112           06022                           TC       GOTOV56                               
022234,001023: 24,3113           05155                           TC       ENDOFJOB                              
022235,001024: 24,3114           00530        ALRM530            OCT      00530                                 
022236,001025: 24,3115           00000 01750  TENSEC             2DEC     1000       B-28                       
022237,001026: 
022238,001027: 24,3117           00000 00062  HALFSEC            2DEC     50         B-28                       
022239,001028: 
022240,001029: 24,3121           05353        R21DISP            TC       PHASCHNG                              
022241,001030: 24,3122           04022                           OCT      04022                                 
022242,001031: 24,3123           33134                           CAF      V06N72PV                              #  FLASH V 50 N 72 - PLEASE PERFORM RR
022243,001032: 24,3124           04616                           TC       BANKCALL                              #  MAIN LOBE LOCKON VERIFICATION
022244,001033: 24,3125           20710                           CADR     GOPERF2R                              
022245,001034: 24,3126           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V 56
022246,001035: 24,3127           02232                           TC       P20LEMWT                              #  PROCEED CONTINUES TO R22
022247,001036: 24,3130           03123                           TC       -5                                    #  ENTER ILLEGAL
022248,001037: 24,3131           34745                           CAF      BIT7                                  
022249,001038: 24,3132           05464                           TC       LINUS                                 #  SET BITS TO MAKE THIS A PRIORITY DISPLAY
022250,001039: 24,3133           05155                           TC       ENDOFJOB                              
022251,001040: 

Page 512

022253,001042: 24,3134           01510        V06N72PV           VN       00672                                 
022254,001043: 

Page 513

022256,001045:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
022257,001046:                                                                                                  #  PROGRAM DESCRIPTION
022258,001047: 
022259,001048:                                                                                                  #        MOD NO - 2
022260,001049:                                                                                                  #        BY P VOLANTE
022261,001050: 
022262,001051:                                                                                                  #  FUNCTIONAL DESCRIPTION
022263,001052: 
022264,001053:                                                                                                  #        TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022265,001054: 
022266,001055:                                                                                                  #  CALLING SEQUENCE -
022267,001056: 
022268,001057:                                                                                                  #        TC      R23LEM
022269,001058: 
022270,001059:                                                                                                  #  SUBROUTINES CALLED
022271,001060: 
022272,001061:                                                                                                  #        BANKCALL        R61LEM
022273,001062:                                                                                                  #        SETMINDB        GOPERF1
022274,001063: 
022275,001064:                                                                                                  #  NORMAL EXIT MODES -
022276,001065: 
022277,001066:                                                                                                  #        IN RESPONSE TO THE GOPERF1      ,SELECTION OF ENTER WILL RECYCLE R23
022278,001067:                                                                                                  #                                        ,SELECTION OF PROC WILL CONTINUE R23
022279,001068:                                                                                                  #                                        ,SELECTION OF TERM WILL TERMINATE R23 +P20
022280,001069: 
022281,001070:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022282,001071: 
022283,001072:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022284,001073: 
022285,001074:                                                                                                  #  OUTPUT
022286,001075: 
022287,001076:                                                                                                  #        N.A.
022288,001077: 
022289,001078:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
022290,001079: 
022291,001080:                                                                                                  #        ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022292,001081: 
022293,001082: 24,3135     1143                                  EBANK=   GENRET                                
022294,001083: 24,3135                                           COUNT*   $$/R23                                
022295,001084: 24,3135           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
022296,001085: 24,3136           00126                           ADRES    NORRMON                               
022297,001086: 24,3137           00004                           INHINT                                         
022298,001087: 24,3140           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
022299,001088: 24,3141           40140                           CADR     SETMINDB                              
022300,001089: 24,3142           00003                           RELINT                                         
022301,001090: 24,3143           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
022302,001091: 24,3144           00006                           EXTEND                                         
022303,001092: 24,3145           05012                           WOR      CHAN12                                
022304,001093: 24,3146           33205                           CAF      OCT205                                
022305,001094: 24,3147           04616                           TC       BANKCALL                              
022306,001095: 24,3150           20623                           CADR     GOPERF1                               
022307,001096: 24,3151           03176                           TC       R23LEM2                               #  TERMINATE
022308,001097: 24,3152           03154                           TC       R23LEM11                              #  PROCEDE
022309,001098: 24,3153           03201                           TC       R23LEM3                               #  ENTER - DO ANOTHER MANUVER
022310,001099: 24,3154           00004        R23LEM11           INHINT                                         
022311,001100: 24,3155           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
022312,001101: 24,3156           00035                           ADRES    CDUT                                  
022313,001102: 24,3157           03166                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
022314,001103: 24,3160           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
022315,001104: 24,3161           40123                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
022316,001105: 24,3162           00003                           RELINT                                         
022317,001106: 24,3163           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022318,001107: 24,3164           00126                           ADRES    NORRMON                               
022319,001108: 24,3165           02163                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
022320,001109: 24,3166           00003        OUTOFLIM           RELINT                                         

Page 514

022322,001111: 24,3167           33204                           CAF      OCT501PV                              
022323,001112: 24,3170           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
022324,001113: 24,3171           21562                           CADR     PRIOLARM                              #  LIMITS
022325,001114: 24,3172           03176                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022326,001115: 24,3173           03167                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
022327,001116: 24,3174           03201                           TC       R23LEM3                               #  RECYCLE - DO ANOTHER MANUVER
022328,001117: 24,3175           05155                           TC       ENDOFJOB                              
022329,001118: 24,3176           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022330,001119: 24,3177           00126                           ADRES    NORRMON                               
022331,001120: 24,3200           06022                           TC       GOTOV56                               #  AND EXIT VIA V56
022332,001121: 24,3201           04616        R23LEM3            TC       BANKCALL                              
022333,001122: 24,3202           46116                           CADR     R61LEM                                
022334,001123: 24,3203           03143                           TC       R23LEM1                               
022335,001124: 
022336,001125: 24,3204           00501        OCT501PV           OCT      501                                   
022337,001126: 24,3205           00205        OCT205             OCT      205                                   
022338,001127: 

Page 515

022340,001129:                                                                                                  #  SEARCH ROUTINE R24LEM
022341,001130:                                                                                                  #  PROGRAM DESCRIPTION
022342,001131: 
022343,001132:                                                                                                  #        MOD NO - 2
022344,001133:                                                                                                  #        BY P. VOLANTE
022345,001134: 
022346,001135:                                                                                                  #  FUNCTIONAL DESCRIPTION
022347,001136: 
022348,001137:                                                                                                  #        TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022349,001138:                                                                                                  #        FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022350,001139:                                                                                                  #        THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022351,001140: 
022352,001141:                                                                                                  #  CALLING SEQUENCE
022353,001142: 
022354,001143:                                                                                                  #        CAF     PRIONN
022355,001144:                                                                                                  #        TC      FINDVAC
022356,001145:                                                                                                  #        EBANK=  DATAGOOD
022357,001146:                                                                                                  #        2CADR   R24LEM
022358,001147: 
022359,001148:                                                                                                  #  SUBROUTINES CALLED
022360,001149: 
022361,001150:                                                                                                  #        FLAGUP          FLAGDOWN        BANKCALL
022362,001151:                                                                                                  #        R61LEM          GOFLASHR        FINDVAC
022363,001152:                                                                                                  #        ENDOFJOB        NOVAC           LSR24.1
022364,001153: 
022365,001154:                                                                                                  #  NORMAL EXIT MODES -
022366,001155: 
022367,001156:                                                                                                  #        ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.  HE CAN EITHER
022368,001157:                                                                                                  #        REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022369,001158:                                                                                                  #        PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022370,001159: 
022371,001160:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022372,001161: 
022373,001162:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022374,001163: 
022375,001164:                                                                                                  #  OUTPUT -
022376,001165: 
022377,001166:                                                                                                  #        SEE OUTPUT FROM LSR24.1 + R61LEM
022378,001167: 
022379,001168:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022380,001169: 
022381,001170:                                                                                                  #        SEE INPUT FOR LSR24.1
022382,001171: 
022383,001172:                                                                                                  #  FLAGS SET + RESET
022384,001173: 
022385,001174:                                                                                                  #        SRCHOPT, ACMODFLG
022386,001175: 
022387,001176: 24,3206  E7,1733                                  EBANK=   DATAGOOD                              
022388,001177: 24,3206                                           COUNT*   $$/R24                                
022389,001178: 24,3206           05504        R24LEM             TC       UPFLAG                                
022390,001179: 24,3207           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
022391,001180: 24,3210           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
022392,001181: 24,3211           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
022393,001182: 24,3212           34755        R24LEM1            CAF      ZERO                                  
022394,001183: 24,3213           55733                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
022395,001184: 24,3214           55734                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
022396,001185: 24,3215           55735                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
022397,001186: 24,3216           05353        R24LEM2            TC       PHASCHNG                              
022398,001187: 24,3217           04022                           OCT      04022                                 
022399,001188: 24,3220           33254                           CAF      V16N80                                
022400,001189: 24,3221           04616                           TC       BANKCALL                              
022401,001190: 24,3222           20504                           CADR     PRIODSPR                              
022402,001191: 24,3223           06022                           TC       GOTOV56                               
022403,001192: 24,3224           03230                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
022404,001193: 
022405,001194: 24,3225           03234                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C

Page 516

022407,001196: 24,3226           04616                           TC       BANKCALL                              
022408,001197: 24,3227           55442                           CADR     LRS24.1                               
022409,001198: 24,3230           06027        R24END             TC       KILLTASK                              
022410,001199: 24,3231           55643                           CADR     CALLDGCH                              
022411,001200: 24,3232           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
022412,001201: 24,3233           12063                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
022413,001202: 
022414,001203:    6011                                           BLOCK    3                                     
022415,001204:    6000                                           SETLOC   FFTAG6                                
022416,001205:    6000                                           BANK                                           
022417,001206:    6011                                           COUNT*   $$/R24                                
022418,001207: 
022419,001208:    6011           46021        CLRADMOD           CS       BIT10+15                              
022420,001209:    6012           00004                           INHINT                                         
022421,001210:    6013           70110                           MASK     RADMODES                              
022422,001211:    6014           54110                           TS       RADMODES                              
022423,001212:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
022424,001213:    6016           00006                           EXTEND                                         
022425,001214:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
022426,001215: 
022427,001216:    6020           00002                           TC       Q                                     
022428,001217: 
022429,001218:    6021           41000        BIT10+15           OCT      41000                                 
022430,001219: 24,3234                                           BANK     24                                    
022431,001220: 24,2000                                           SETLOC   P20S                                  
022432,001221: 24,2000                                           BANK                                           
022433,001222: 24,3234                                           COUNT*   $$/R24                                
022434,001223: 
022435,001224: 24,3234           05353        R24LEM3            TC       PHASCHNG                              
022436,001225: 24,3235           04022                           OCT      04022                                 
022437,001226: 24,3236           06027                           TC       KILLTASK                              
022438,001227: 24,3237           55643                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
022439,001228: 24,3240           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES TO KILL
022440,001229: 24,3241           00003                           RELINT                                         #  HALF SECOND DESIGNATE LOOP
022441,001230: 24,3242           34774                           CAF      .5SEC                                 
022442,001231: 24,3243           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
022443,001232: 24,3244           01735                           CADR     DELAYJOB                              
022444,001233: 24,3245           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
022445,001234: 24,3246           03251                           TC       R24LEM4                               #  YES - DONT DO ATTITUDE MANEUVER
022446,001235: 24,3247           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
022447,001236: 24,3250           46116                           CADR     R61LEM                                #  ATTITUDE MANEUVER
022448,001237: 24,3251           34755        R24LEM4            CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
022449,001238: 24,3252           55306                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022450,001239:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
022451,001240: 24,3253           03216                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
022452,001241: 
022453,001242: 24,3254           04120        V16N80             VN       01680                                 
022454,001243: 

Page 517

022456,001245:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022457,001246:                                                                                                  #  PROGRAM DESCRIPTION
022458,001247: 
022459,001248:                                                                                                  #        MOD NO: 3               DATE: 4-11-67
022460,001249:                                                                                                  #        MOD BY: P VOLANTE   SDC
022461,001250: 
022462,001251:                                                                                                  #  FUNCTIONAL DESCRIPTION -
022463,001252: 
022464,001253:                                                                                                  #        TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022465,001254:                                                                                                  #        TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022466,001255:                                                                                                  #        ATTITUDE.
022467,001256: 
022468,001257:                                                                                                  #  CALLING SEQUENCE -
022469,001258: 
022470,001259:                                                                                                  #        TC      BANKCALL
022471,001260:                                                                                                  #        CADR    R61LEM
022472,001261: 
022473,001262:                                                                                                  #  SUBROUTINES CALLED
022474,001263: 
022475,001264:                                                                                                  #        LPS20.1         VECPOINT
022476,001265:                                                                                                  #        KALCMAN3
022477,001266: 
022478,001267:                                                                                                  #  NORMAL EXIT MODES -
022479,001268: 
022480,001269:                                                                                                  #        NORMAL RETURN IS TO CALLER + 1
022481,001270: 
022482,001271:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022483,001272: 
022484,001273:                                                                                                  #        TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022485,001274:                                                                                                  #        RENDEZVOUS FLAG ARE NOT SET.
022486,001275: 
022487,001276:                                                                                                  #  OUTPUT -
022488,001277: 
022489,001278:                                                                                                  #        SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022490,001279: 
022491,001280:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022492,001281: 
022493,001282:                                                                                                  #        GENRET USED TO SAVE Q FOR RETURN
022494,001283: 
022495,001284:                                                                                                  #  FLAGS SET + RESET
022496,001285: 
022497,001286:                                                                                                  #        3AXISFLG
022498,001287: 
022499,001288:                                                                                                  #  DEBRIS
022500,001289: 
022501,001290:                                                                                                  #        SEE SUBROUTINES
022502,001291: 
022503,001292: 23,2000                                           SETLOC   R61                                   
022504,001293: 23,2000                                           BANK                                           
022505,001294: 23,2116  E7,1456                                  EBANK=   LOSCOUNT                              
022506,001295: 23,2116                                           COUNT*   $$/R61                                
022507,001296: 23,2116           04645        R61LEM             TC       MAKECADR                              
022508,001297: 23,2117           55143                           TS       GENRET                                
022509,001298: 23,2120           05504                           TC       UPFLAG                                #  SET R61 FLAG
022510,001299: 23,2121           00024                           ADRES    R61FLAG                               
022511,001300: 23,2122           02127                           TC       R61C+L01                              
022512,001301: 23,2123           04645        R65LEM             TC       MAKECADR                              
022513,001302: 23,2124           55143                           TS       GENRET                                
022514,001303: 23,2125           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
022515,001304: 23,2126           00024                           ADRES    R61FLAG                               
022516,001305: 23,2127           34747        R61C+L01           CAF      TRACKBIT                              #  TRACKFLAG
022517,001306: 23,2130           70075                           MASK     STATE      +1                         
022518,001307: 23,2131           00006                           EXTEND                                         
022519,001308: 23,2132           12271                           BZF      R65WAIT                               #  NOT SET
022520,001309: 23,2133           06037        R61C+L03           TC       INTPRET                               
022521,001310: 23,2134           77775                           VLOAD                                          

Page 518

022523,001312: 23,2135           06514                                    HIUNITZ                               
022524,001313: 23,2136           03765                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
022525,001314: 23,2137           43234        R61LEM1            RTB      DAD                                   
022526,001315: 23,2140           21573                                    LOADTIME                              #  EXTRAPOLATE FORWARD TO CENTER
022527,001316: 23,2141           15712                                    3SECONDS                              #  SIX SECOND PERIOD.
022528,001317: 23,2142           34041                           STCALL   TDEC1                                 
022529,001318: 23,2143           51255                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
022530,001319: 23,2144           77775                           VLOAD                                          
022531,001320: 23,2145           01102                                    RRTARGET                              
022532,001321: 23,2146           03773                           STORE    POINTVSM                              
022533,001322: 23,2147           45034                           RTB      CALL                                  #  GET DESIRED CDU'S FOR VECPNT1
022534,001323: 23,2150           46277                                    READCDUD                              
022535,001324: 23,2151           56032                                    VECPNT1                               #  COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022536,001325: 23,2152           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022537,001326: 23,2153           77776                           EXIT                                           
022538,001327: 23,2154           05353                           TC       PHASCHNG                              
022539,001328: 23,2155           04022                           OCT      04022                                 
022540,001329: 23,2156           34747                           CAF      TRACKBIT                              #  IS TRACK FLAG SET
022541,001330: 23,2157           70075                           MASK     FLAGWRD1                              
022542,001331: 23,2160           00006                           EXTEND                                         
022543,001332: 23,2161           12271                           BZF      R65WAIT                               
022544,001333: 23,2162           04616                           TC       BANKCALL                              
022545,001334: 23,2163           54255                           CADR     G+N,AUTO                              #  CHECK FOR AUTO MODE
022546,001335: 23,2164           10000                           CCS      A                                     
022547,001336: 23,2165           02257                           TC       R61C+L04                              #  NOT IN AUTO
022548,001337: 23,2166           06037                           TC       INTPRET                               
022549,001338: 23,2167           45175                           VLOAD    CALL                                  
022550,001339: 23,2170           01102                                    RRTARGET                              
022551,001340: 23,2171           47646                                    CDU*SMNB                              
022552,001341: 23,2172           45345                           DLOAD    DSU                                   #  GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022553,001342: 23,2173           00162                                    MPAC       +5                         
022554,001343: 23,2174           06275                                    COS15DEG                              
022555,001344: 23,2175           77440        R61LEM2            BMN      EXIT                                  #  BRANCH - PHI > 15 DEGREES
022556,001345: 23,2176           46213                                    R61C+L05                              #  PHI GRE 10DEG
022557,001346: 23,2177  E6,1635                                  EBANK=   CDUXD                                 
022558,001347: 23,2177           35015                           CAF      EBANK6                                
022559,001348: 23,2200           54003                           TS       EBANK                                 
022560,001349: 23,2201           00004                           INHINT                                         
022561,001350: 23,2202           00006                           EXTEND                                         
022562,001351: 23,2203           30322                           DCA      CPHI                                  
022563,001352: 23,2204           53636                           DXCH     CDUXD                                 
022564,001353: 23,2205           30323                           CA       CPSI                                  
022565,001354: 23,2206           55637                           TS       CDUZD                                 
022566,001355: 23,2207           00003                           RELINT                                         
022567,001356: 23,2210  E7,1456                                  EBANK=   LOSCOUNT                              
022568,001357: 23,2210           35016                           CAF      EBANK7                                
022569,001358: 23,2211           54003                           TS       EBANK                                 
022570,001359: 23,2212           02236                           TC       R61C+L06                              
022571,001360: 23,2213           77776        R61C+L05           EXIT                                           
022572,001361: 23,2214           00004                           INHINT                                         

Page 519

022574,001363: 23,2215           04674                           TC       IBNKCALL                              
022575,001364: 23,2216           40153                           FCADR    ZATTEROR                              
022576,001365: 23,2217           04674                           TC       IBNKCALL                              
022577,001366: 23,2220           40140                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
022578,001367: 23,2221           05516                           TC       DOWNFLAG                              
022579,001368: 23,2222           00124                           ADRES    3AXISFLG                              
022580,001369: 23,2223           05504                           TC       UPFLAG                                
022581,001370: 23,2224           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
022582,001371: 23,2225           04616                           TC       BANKCALL                              
022583,001372: 23,2226           54123                           CADR     R60LEM                                
022584,001373: 23,2227           00004                           INHINT                                         
022585,001374: 23,2230           04674                           TC       IBNKCALL                              
022586,001375: 23,2231           40123                           FCADR    RESTORDB                              
022587,001376: 23,2232           05353                           TC       PHASCHNG                              
022588,001377: 23,2233           04022                           OCT      04022                                 
022589,001378: 23,2234           05516                           TC       DOWNFLAG                              
022590,001379: 23,2235           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
022591,001380: 23,2236           30075        R61C+L06           CA       FLAGWRD1                              
022592,001381: 23,2237           74742                           MASK     R61FLBIT                              
022593,001382: 23,2240           10000                           CCS      A                                     
022594,001383: 23,2241           02262                           TC       R61C+L4                               
022595,001384: 23,2242           11745                           CCS      R65CNTR                               
022596,001385: 23,2243           02245                           TC       +2                                    
022597,001386: 23,2244           02262                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
022598,001387: 23,2245           55745                           TS       R65CNTR                               
022599,001388: 23,2246           32276                           CAF      06SEC                                 
022600,001389: 23,2247           05173                           TC       TWIDDLE                               
022601,001390: 23,2250           02252                           ADRES    R61C+L2                               
022602,001391: 23,2251           05155                           TC       ENDOFJOB                              
022603,001392: 23,2252           37714        R61C+L2            CAF      PRIO26                                
022604,001393: 23,2253           05105                           TC       FINDVAC                               
022605,001394: 23,2254  E7,1456                                  EBANK=   LOSCOUNT                              
022606,001395: 23,2254           02127 46067                     2CADR    R61C+L01                              
022607,001396: 
022608,001397: 23,2256           05261                           TC       TASKOVER                              
022609,001398: 23,2257           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
022610,001399: 23,2260           54266                           CADR     BALLANGS                              
022611,001400: 23,2261           02236                           TC       R61C+L06                              
022612,001401: 23,2262           31143        R61C+L4            CAE      GENRET                                
022613,001402: 23,2263           14640                           TCF      BANKJUMP                              #  EXIT R61
022614,001403: 23,2264           32273        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
022615,001404: 23,2265           70074                           MASK     STATE                                 
022616,001405: 23,2266           00006                           EXTEND                                         
022617,001406: 23,2267           15155                           BZF      ENDOFJOB                              #  NO - EXIT ROUTINE AND PROGRAM.
022618,001407: 23,2270           02236                           TC       R61C+L06                              #  YES EXIT ROUTINE
022619,001408: 23,2271           04635        R65WAIT            TC       POSTJUMP                              
022620,001409: 23,2272           50232                           CADR     P20LEMWT                              
022621,001410: 
022622,001411: 23,2273           00500        BIT7+9PV           OCT      00500                                 

Page 520

022624,001413: 23,2274           17350 34602  COS15DEG           2DEC     0.96593    B-1                        
022625,001414: 
022626,001415: 23,2276           01130        06SEC              DEC      600        B-14                       
022627,001416: 23,2277                        PHI                EQUALS   20D                                   
022628,001417: 23,2277           00004        READCDUD           INHINT                                         #  READS DESIRED CDU'S AND STORES IN
022629,001418: 23,2300           35015                           CAF      EBANK6                                #  MPAC TP EXITS WITH MODE SET TO TP
022630,001419: 23,2301           56003                           XCH      EBANK                                 
022631,001420: 23,2302           54070                           TS       RUPTREG1                              
022632,001421: 23,2303  E6,1635                                  EBANK=   CDUXD                                 
022633,001422: 23,2303           31635                           CA       CDUXD                                 
022634,001423: 23,2304           54154                           TS       MPAC                                  
022635,001424: 23,2305           00006                           EXTEND                                         
022636,001425: 23,2306           31637                           DCA      CDUYD                                 
022637,001426: 23,2307           52156                           DXCH     MPAC       +1                         
022638,001427: 23,2310           30070                           CA       RUPTREG1                              
022639,001428: 23,2311           54003                           TS       EBANK                                 
022640,001429: 23,2312           00003                           RELINT                                         
022641,001430: 23,2313           16477                           TCF      TMODE                                 
022642,001431:    4512                                           BLOCK    02                                    
022643,001432:    4000                                           SETLOC   RADARFF                               
022644,001433:    4000                                           BANK                                           
022645,001434: 
022646,001435:    4512  E7,1456                                  EBANK=   LOSCOUNT                              
022647,001436:    4512                                           COUNT*   $$/RRSUB                              
022648,001437: 

Page 521

022650,001439:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022651,001440:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1.  OTHERWISE IT RETURNS TO CALLER +3.  MAY BE CALLED IN RUPT OR UNDER EXEC.
022652,001441: 
022653,001442:    4512           00006        MAGSUB             EXTEND                                         
022654,001443:    4513           64515                           BZMF     +2                                    
022655,001444:    4514           14516                           TCF      +2                                    
022656,001445:    4515           40000                           COM                                            
022657,001446: 
022658,001447:    4516           50002                           INDEX    Q                                     
022659,001448:    4517           60000                           AD       0                                     
022660,001449:    4520           00006                           EXTEND                                         
022661,001450:    4521           66741                           BZMF     Q+2                                   #  ABS(A) <= CONST GO TO L+3
022662,001451:    4522           16737                           TCF      Q+1                                   #  ABS(A) > CONST GO TO L+2
022663,001452: 

Page 522

022665,001454:                                                                                                  #  PROGRAM NAME_ RRLIMCHK                                                        ARE IN THE LIMITS OF THE CURRENT MODE.
022666,001455: 
022667,001456:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022668,001457: 
022669,001458:                                                                                                  #        RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022670,001459:                                                                                                  #        THE LIMITS OF THE CURRENT MODE.  INITIALLY THE DESIRED TRUNNION AND
022671,001460:                                                                                                  #        SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2.  THE CURRENT RR
022672,001461:                                                                                                  #        ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022673,001462:                                                                                                  #        MODE 1 AND =1 FOR MODE 2.
022674,001463: 
022675,001464:                                                                                                  #        MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022676,001465:                                                                                                  #        BETWEEN -55 AND +55 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN LIMITS,
022677,001466:                                                                                                  #        THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022678,001467:                                                                                                  #        IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN TO L +3.
022679,001468: 
022680,001469:                                                                                                  #        MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022681,001470:                                                                                                  #        BETWEEN -139 AND -25 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN
022682,001471:                                                                                                  #        LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022683,001472:                                                                                                  #        AND -125 (+235) DEGREES.  IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN
022684,001473:                                                                                                  #        TO L +3.
022685,001474: 
022686,001475:                                                                                                  #  CALLING SEQUENCE:
022687,001476: 
022688,001477:                                                                                                  #        L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
022689,001478:                                                                                                  #        L  +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
022690,001479: 
022691,001480:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022692,001481: 
022693,001482:                                                                                                  #        RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022694,001483:                                                                                                  #        ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022695,001484:                                                                                                  #        CURRENT EBANK).
022696,001485: 
022697,001486:                                                                                                  #  SUBROUTINES CALLED_   MAGSUB
022698,001487: 
022699,001488:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022700,001489: 
022701,001490:                                                                                                  #  ALARMS_  NONE
022702,001491: 
022703,001492:                                                                                                  #  EXIT_         L + 2   (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022704,001493:                                                                                                  #                L + 3   (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022705,001494: 
022706,001495:    4523           00006        RRLIMCHK           EXTEND                                         
022707,001496:    4524           50002                           INDEX    Q                                     
022708,001497:    4525           50000                           INDEX    0                                     
022709,001498:    4526           30001                           DCA      0                                     
022710,001499:    4527           24002                           INCR     Q                                     
022711,001500:    4530           52062                           DXCH     ITEMP1                                
022712,001501:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
022713,001502: 
022714,001503:    4532           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
022715,001504:    4533           70110                           MASK     RADMODES                              
022716,001505:    4534           10000                           CCS      A                                     
022717,001506:    4535           14550                           TCF      MODE2CHK                              
022718,001507: 
022719,001508:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS

Page 523

022721,001510:    4537           04512                           TC       MAGSUB                                #        1. ABS(T) L 55 DEGS.
022722,001511:    4540           66161                           DEC      -.30555                               #        2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022723,001512:    4541           00001                           TC       L                                     #                (SHAFT LIMITS AT +59, -70 DEGS)
022724,001513: 
022725,001514:    4542           34562                           CAF      5.5DEGS                               
022726,001515:    4543           60062                           AD       ITEMP2                                #  S
022727,001516:    4544           04512                           TC       MAGSUB                                
022728,001517:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
022729,001518:    4546           00001                           TC       L                                     
022730,001519:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
022731,001520: 
022732,001521:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
022733,001522:    4551           60062                           AD       ITEMP2                                #        1. ABS(T) G 125 DEGS.
022734,001523:    4552           04512                           TC       MAGSUB                                #        2. ABS(S + 82 DEGS) L 57 DEGS
022735,001524:    4553           65673                           DEC      -.31667                               #                (SHAFT LIMITS AT -25, -139 DEGS)
022736,001525:    4554           00001                           TC       L                                     
022737,001526: 
022738,001527:    4555           30061                           CA       ITEMP1                                
022739,001528:    4556           04512                           TC       MAGSUB                                
022740,001529:    4557           51615                           DEC      -.69444                               #  125 DEGS
022741,001530: 
022742,001531:    4560           50001        RRLIMOK            INDEX    L                                     
022743,001532:    4561           00001                           TC       L                                     #  ( = TC 1 )
022744,001533: 
022745,001534:    4562           00765        5.5DEGS            DEC      .03056                                
022746,001535:    4563           16450        82DEGS             DEC      .45556                                
022747,001536: 

Page 524

022749,001538:                                                                                                  #  PROGRAM NAME_ SETTRKF                                                         . IF EITHER:
022750,001539: 
022751,001540:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022752,001541:                                                                                                  #        SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.                      HER THE ALT OR VEL INFORMATION.
022753,001542:                                                                                                  #        INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022754,001543:                                                                                                  #        IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022755,001544:                                                                                                  #        IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022756,001545:                                                                                                  #                1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022757,001546:                                                                                                  #                   AUTO MODE (RADMODES BITS 13, 7, 2).
022758,001547:                                                                                                  #                2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022759,001548:                                                                                                  #                   8,5)
022760,001549:                                                                                                  #                3) NO RR DATA (RADMODES BIT 4)
022761,001550:                                                                                                  #        THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022762,001551:                                                                                                  #        IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022763,001552:                                                                                                  #        LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022764,001553:                                                                                                  #        THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022765,001554:                                                                                                  #        TRACKER FAIL LAMP IS TURNED ON IF_
022766,001555:                                                                                                  #                A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022767,001556:                                                                                                  #                B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022768,001557:                                                                                                  #                   EITHER THE ALT OR VEL INFORMATION
022769,001558:                                                                                                  #                C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022770,001559:                                                                                                  #                   WITH EITHER THE AL
022771,001560: 
022772,001561:                                                                                                  #  CALLING SEQUENCE:
022773,001562: 
022774,001563:                                                                                                  #        L       TC      SETTRKF
022775,001564: 
022776,001565:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:  IMODES33, RADMODES, DSPTAB +11D
022777,001566: 
022778,001567:                                                                                                  #  SUBROUTINES CALLED_  NONE
022779,001568: 
022780,001569:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022781,001570: 
022782,001571:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
022783,001572: 
022784,001573:                                                                                                  #  EXIT_  L +1 (ALWAYS)                                                          ED.
022785,001574: 
022786,001575:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
022787,001576:    4565           71303                           MASK     IMODES33                              
022788,001577:    4566           10000                           CCS      A                                     
022789,001578:    4567           00002                           TC       Q                                     
022790,001579: 
022791,001580:    4570           34744        RRTRKF             CA       BIT8                                  
022792,001581:    4571           54001                           TS       L                                     
022793,001582: 
022794,001583:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
022795,001584:    4573           70110                           MASK     RADMODES                              
022796,001585:    4574           00006                           EXTEND                                         
022797,001586:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
022798,001587: 
022799,001588:    4576           34750        RRCHECK            CAF      RRDATABT                              #  SEE IF RR DATA FAILED.
022800,001589:    4577           70110                           MASK     RADMODES                              

Page 525

022802,001591:    4600           10000                           CCS      A                                     
022803,001592:    4601           30001        TRKFLON            CA       L                                     
022804,001593:    4602           61036                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
022805,001594:    4603           70001                           MASK     L                                     
022806,001595:    4604           00006                           EXTEND                                         
022807,001596:    4605           16742                           BZF      TCQ                                   #  NO CHANGE.
022808,001597: 
022809,001598:    4606           31036        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
022810,001599:    4607           00006                           EXTEND                                         
022811,001600:    4610           06001                           RXOR     LCHAN                                 
022812,001601:    4611           74733                           MASK     POSMAX                                
022813,001602:    4612           64735                           AD       BIT15                                 
022814,001603:    4613           55036                           TS       DSPTAB     +11D                       
022815,001604:    4614           00002                           TC       Q                                     
022816,001605: 
022817,001606:    4615           10102        13,7,2             OCT      10102                                 
022818,001607:    4616                        ENDRMODF           EQUALS                                         
022819,001608: 

Page 526

022821,001610:                                                                                                  #  PROGRAM NAME_  RRTURNON
022822,001611: 
022823,001612:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022824,001613: 
022825,001614:                                                                                                  #        RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022826,001615:                                                                                                  #        RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022827,001616:                                                                                                  #        INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022828,001617:                                                                                                  #        ACTUAL TURN-ON SEQUENCE.  UPON RETURN THE PROGRAM
022829,001618:                                                                                                  #        WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022830,001619:                                                                                                  #        (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022831,001620:                                                                                                  #        INITIATE PROGRAM ALARM 00501.  A CHECK IS THEN MADE
022832,001621:                                                                                                  #        TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7).  IF
022833,001622:                                                                                                  #        SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022834,001623:                                                                                                  #        FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022835,001624:                                                                                                  #        RETURNING TO THE WAITING PROGRAM.  IF NOT, THE PROGRAM EXITS
022836,001625:                                                                                                  #        TO TASKOVER.
022837,001626: 
022838,001627:                                                                                                  #  CALLING SEQUENCE:  WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022839,001628:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING 
022840,001629:                                                                                                  #  THE RR (STATE BIT 7).
022841,001630: 
022842,001631:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022843,001632: 
022844,001633:                                                                                                  #        RADMODES, STATE
022845,001634: 
022846,001635:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022847,001636: 
022848,001637:                                                                                                  #  JOBS OR TASKS INITIATED_
022849,001638:                                                                                                  #        
022850,001639:                                                                                                  #        NONE
022851,001640: 
022852,001641:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
022853,001642: 
022854,001643:                                                                                                  #  EXIT_  TASKOVER, ENDRADAR (WAITING PROGRAM)
022855,001644: 
022856,001645: 24,3255                                           BANK     24                                    
022857,001646: 25,2000                                           SETLOC   P20S1                                 
022858,001647: 25,2000                                           BANK                                           
022859,001648: 
022860,001649: 25,2062  E7,1456                                  EBANK=   LOSCOUNT                              
022861,001650: 25,2062                                           COUNT*   $$/RSUB                               
022862,001651: 25,2062           02071        RRTURNON           TC       RRZEROSB                              
022863,001652: 25,2063           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022864,001653: 25,2064           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
022865,001654: 25,2065           44753                           CS       TURNONBT                              
022866,001655: 25,2066           70110                           MASK     RADMODES                              
022867,001656: 25,2067           54110                           TS       RADMODES                              
022868,001657: 25,2070           15261                           TCF      TASKOVER                              

Page 527

022870,001659:                                                                                                  #  PROGRAM NAME_  RRZEROSB
022871,001660: 
022872,001661:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022873,001662:                                                                                                  #        RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022874,001663:                                                                                                  #        DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022875,001664:                                                                                                  #        LAMP IF REQUIRED.  INITIALLY THE RR CDU ZERO BIT (CHAN 12
022876,001665:                                                                                                  #        BIT 1) IS SET.  FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022877,001666:                                                                                                  #        RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER 
022878,001667:                                                                                                  #        WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022879,001668:                                                                                                  #        REMOVED.  A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022880,001669:                                                                                                  #        TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES.  THE
022881,001670:                                                                                                  #        RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED.  THE
022882,001671:                                                                                                  #        CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022883,001672:                                                                                                  #        ANGLE IS LESS THAN 90 DEGREES.  IF NOT, BIT 12 OF
022884,001673:                                                                                                  #        RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022885,001674:                                                                                                  #        IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022886,001675:                                                                                                  #        INDICATE RR ANTENNA MODE 1.  SETTRKF IS THEN CALLED TO
022887,001676:                                                                                                  #        SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022888,001677: 
022889,001678:                                                                                                  #  CALLING SEQUENCE:  L  TC  RRZEROSB  (FROM RRTURNON AND RRZERO)
022890,001679: 
022891,001680:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022892,001681: 
022893,001682:                                                                                                  #        RADMODES (BIT 13 SET), DSPTAB +11D
022894,001683: 
022895,001684:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
022896,001685: 
022897,001686:                                                                                                  #  JOBS OR TASKS INITIATED_
022898,001687: 
022899,001688:                                                                                                  #        NONE
022900,001689: 
022901,001690:                                                                                                  #  ALARMS_  TRACKER FAIL
022902,001691: 
022903,001692:                                                                                                  #  EXIT_  L +1 (ALWAYS)
022904,001693: 
022905,001694: 25,2071           00006        RRZEROSB           EXTEND                                         
022906,001695: 25,2072           23315                           QXCH     RRRET                                 
022907,001696: 25,2073           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
022908,001697: 25,2074           00006                           EXTEND                                         #  COMING HERE.
022909,001698: 25,2075           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
022910,001699: 25,2076           05221                           TC       FIXDELAY                              
022911,001700: 25,2077           00002                           DEC      2          B-14                       
022912,001701: 
022913,001702: 25,2100           34755                           CAF      ZERO                                  
022914,001703: 25,2101           54035                           TS       CDUT                                  
022915,001704: 25,2102           54036                           TS       CDUS                                  
022916,001705: 25,2103           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
022917,001706: 25,2104           00006                           EXTEND                                         
022918,001707: 25,2105           03012                           WAND     CHAN12                                
022919,001708: 25,2106           05221                           TC       FIXDELAY                              
022920,001709: 25,2107           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
022921,001710: 
022922,001711: 25,2110           44737                           CS       RCDU0BIT                              #  REMOVE ZEROING IN PROCESS BIT.

Page 528

022924,001713: 25,2111           70110                           MASK     RADMODES                              
022925,001714: 25,2112           54110                           TS       RADMODES                              
022926,001715: 
022927,001716: 25,2113           30035                           CA       CDUT                                  
022928,001717: 25,2114           04512                           TC       MAGSUB                                
022929,001718: 25,2115           57777                           DEC      -.5                                   
022930,001719: 25,2116           12121                           TCF      +3                                    #  IF MODE 2.
022931,001720: 
022932,001721: 25,2117           34755                           CAF      ZERO                                  
022933,001722: 25,2120           12122                           TCF      +2                                    
022934,001723: 25,2121           34740                           CAF      ANTENBIT                              
022935,001724: 25,2122           56110                           XCH      RADMODES                              
022936,001725: 25,2123           77741                           MASK     -BIT12                                
022937,001726: 25,2124           26110                           ADS      RADMODES                              
022938,001727: 
022939,001728: 25,2125           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
022940,001729: 
022941,001730: 25,2126           01315                           TC       RRRET                                 #  DONE.
022942,001731: 
022943,001732: 25,2127     7741               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
022944,001733: 

Page 529

022946,001735:                                                                                                  #  PROGRAM NAME_  DORREPOS
022947,001736: 
022948,001737:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022949,001738: 
022950,001739:                                                                                                  #        DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022951,001740:                                                                                                  #        TO A SAFE POSITION.  INITIALLY SETRRECR IS CALLED WHERE THE RR
022952,001741:                                                                                                  #        ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022953,001742:                                                                                                  #        AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022954,001743:                                                                                                  #        DESIRED STATE AND PRESENT STATE OF THE COMMANDS.  THE RR
022955,001744:                                                                                                  #        TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022956,001745:                                                                                                  #        PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING.  IN EITHER
022957,001746:                                                                                                  #        CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022958,001747:                                                                                                  #        RR ANTENNA MODE (RADMODES BIT 12).  RRTONLY IS THEN CALLED
022959,001748:                                                                                                  #        TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022960,001749:                                                                                                  #        DEGREES IF IN MODE 2.  UPON RETURN, THE CURRENT RR ANTENNA
022961,001750:                                                                                                  #        MODE (RADMODES BIT 12) IS AGAIN CHECKED.  RRSONLY IS THEN
022962,001751:                                                                                                  #        CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022963,001752:                                                                                                  #        -90 DEGREES IF IN MODE 2.  IF DURING RRTONLY OR RRSONLY A
022964,001753:                                                                                                  #        REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022965,001754:                                                                                                  #        FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022966,001755:                                                                                                  #        REPOSRPT.  HERE THE REPOSITION FLAG (RADMODES BIT 11) IS 
022967,001756:                                                                                                  #        REMOVED.  A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022968,001757:                                                                                                  #        BIT 10).  IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES.  IF NOT PRESENT
022969,001758:                                                                                                  #        INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022970,001759:                                                                                                  #        COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022971,001760:                                                                                                  #        TASKOVER.
022972,001761: 
022973,001762:                                                                                                  #  CALLING SEQUENCE:
022974,001763: 
022975,001764:                                                                                                  #        WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022976,001765:                                                                                                  #        NOT WITHIN LIMITS OF CURRENT MODE.
022977,001766: 
022978,001767:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022979,001768: 
022980,001769:                                                                                                  #        RADMODES
022981,001770: 
022982,001771:                                                                                                  #  SUBROUTINES CALLED_
022983,001772: 
022984,001773:                                                                                                  #        RRTONLY, RRSONLY, BEGDES (EXIT)
022985,001774: 
022986,001775:                                                                                                  #  JOBS OR TASKS INITIATED_
022987,001776: 
022988,001777:                                                                                                  #        NONE
022989,001778: 
022990,001779:                                                                                                  #  ALARMS-  NONE
022991,001780: 
022992,001781:                                                                                                  #  EXIT_  TASKOVER, BEGDES
022993,001782: 
022994,001783: 25,2127           02156        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
022995,001784: 
022996,001785:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022997,001786: 
022998,001787: 25,2130           05221                           TC       FIXDELAY                              
022999,001788: 25,2131           00002                           DEC      2          B-14                       
023000,001789: 
023001,001790: 25,2132           34740                           CAF      ANTENBIT                              #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.

Page 530

023003,001792: 25,2133           70110                           MASK     RADMODES                              
023004,001793: 25,2134           10000                           CCS      A                                     
023005,001794: 25,2135           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
023006,001795: 25,2136           02241                           TC       RRTONLY                               
023007,001796: 
023008,001797: 25,2137           34740                           CAF      ANTENBIT                              #  NOW PUT SHAFT IN RIGHT POSITION
023009,001798: 25,2140           70110                           MASK     RADMODES                              
023010,001799: 25,2141           10000                           CCS      A                                     
023011,001800: 25,2142           44736                           CS       HALF                                  #  -90 FOR MODE 2.
023012,001801: 25,2143           02244                           TC       RRSONLY                               
023013,001802: 
023014,001803: 25,2144           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
023015,001804:                                                                                                  #  REQUESTED DURING REPOSITION.
023016,001805: 25,2145           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
023017,001806: 25,2146           54110                           TS       RADMODES                              
023018,001807: 25,2147           74742                           MASK     DESIGBIT                              #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
023019,001808: 25,2150           10000                           CCS      A                                     
023020,001809: 25,2151           12573                           TCF      BEGDES                                
023021,001810: 25,2152           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
023022,001811: 25,2153           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
023023,001812: 25,2154           03012                           WAND     CHAN12                                
023024,001813: 25,2155           15261                           TCF      TASKOVER                              
023025,001814: 
023026,001815: 25,2156           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
023027,001816: 25,2157           00006                           EXTEND                                         
023028,001817: 25,2160           02012                           RAND     CHAN12                                
023029,001818: 25,2161           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
023030,001819: 25,2162           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
023031,001820: 
023032,001821: 25,2163           54112                           TS       LASTYCMD                              
023033,001822: 25,2164           54113                           TS       LASTXCMD                              
023034,001823: 25,2165           34752                           CAF      BIT2                                  
023035,001824: 25,2166           00006                           EXTEND                                         
023036,001825: 25,2167           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
023037,001826: 25,2170           00002                           TC       Q                                     

Page 531

023039,001828:                                                                                                  #  PROGRAM NAME_  REMODE                                                         IVES SHAFT TO -45, AND FINALLY DRIVES
023040,001829: 
023041,001830:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       S DONE WITH SINGLE AXIS ROTATIONS (SEE
023042,001831:                                                                                                  #        REMODE IS THE GENERAL REMODING SUBROUTINE.  IT DRIVES THE
023043,001832:                                                                                                  #        TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023044,001833:                                                                                                  #        180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023045,001834:                                                                                                  #        DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023046,001835:                                                                                                  #        TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023047,001836:                                                                                                  #        INITIATING 2-AXIS CONTROL.  ALL REMODING IS DONE WITH SINGLE
023048,001837:                                                                                                  #        AXIS ROTATIONS (RR1AXIS).  INITIALLY THE RR ANTENNA MODE FLAG
023049,001838:                                                                                                  #        (RADMODES BIT 12) IS CHECKED.  CONTROL IS THEN TRANSFERRED TO
023050,001839:                                                                                                  #        RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023051,001840:                                                                                                  #        OR 180 DEGREES IF IN MODE 2.  RRSONLY IS THEN CALLED TO DRIVE
023052,001841:                                                                                                  #        THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023053,001842:                                                                                                  #        (RADMODES BIT 12) IS CHECKED AGAIN.  CONTROL IS AGAIN
023054,001843:                                                                                                  #        TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023055,001844:                                                                                                  #        DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023056,001845:                                                                                                  #        -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1.  RMODINV
023057,001846:                                                                                                  #        IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023058,001847:                                                                                                  #        RR ANTENNA MODE.  THE REMODE FLAG (RADMODES BIT 14)
023059,001848:                                                                                                  #        IS REMOVED TO INDICATE THAT REMODING IS COMPLETE.  THE PROGRAM
023060,001849:                                                                                                  #        THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023061,001850: 
023062,001851:                                                                                                  #  CALLING SEQUENCE:
023063,001852: 
023064,001853:                                                                                                  #        FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023065,001854:                                                                                                  #        THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023066,001855:                                                                                                  #        DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023067,001856:                                                                                                  #        OTHER MODE.
023068,001857: 
023069,001858:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023070,001859: 
023071,001860:                                                                                                  #        RADMODES
023072,001861: 
023073,001862:                                                                                                  #  SUBROUTINES CALLED_
023074,001863: 
023075,001864:                                                                                                  #        RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023076,001865: 
023077,001866:                                                                                                  #  JOBS OR TASKS INITIATED_
023078,001867: 
023079,001868:                                                                                                  #        NONE
023080,001869: 
023081,001870:                                                                                                  #  ALARMS_  NONE
023082,001871: 
023083,001872:                                                                                                  #  EXIT_  STDESIG
023084,001873: 
023085,001874: 25,2171           34740        REMODE             CAF      ANTENBIT                              #  DRIVE TRUNNION TO 0 (180)
023086,001875: 25,2172           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
023087,001876: 25,2173           10000                           CCS      A                                     
023088,001877: 25,2174           34735                           CAF      BIT15                                 
023089,001878: 25,2175           02241                           TC       RRTONLY                               
023090,001879: 
023091,001880: 25,2176           37740                           CAF      -45DEGSR                              
023092,001881: 25,2177           02244                           TC       RRSONLY                               

Page 532

023094,001883: 25,2200           40110                           CS       RADMODES                              
023095,001884: 25,2201           74740                           MASK     ANTENBIT                              
023096,001885: 25,2202           10000                           CCS      A                                     
023097,001886: 25,2203           32232                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
023098,001887: 25,2204           62231                           AD       -50DEGSR                              
023099,001888: 25,2205           02241                           TC       RRTONLY                               
023100,001889: 
023101,001890: 25,2206           40110                           CS       RADMODES                              
023102,001891: 25,2207           74740                           MASK     ANTENBIT                              
023103,001892: 25,2210           10000                           CCS      A                                     
023104,001893: 25,2211           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
023105,001894: 25,2212           02241                           TC       RRTONLY                               
023106,001895: 
023107,001896: 25,2213           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
023108,001897: 25,2214           74740                           MASK     ANTENBIT                              
023109,001898: 25,2215           10000                           CCS      A                                     
023110,001899: 25,2216           44736                           CS       HALF                                  
023111,001900: 25,2217           02244                           TC       RRSONLY                               
023112,001901: 
023113,001902: 25,2220           02233                           TC       RMODINV                               
023114,001903: 
023115,001904: 25,2221           44736                           CS       REMODBIT                              #  END OF REMODE.
023116,001905: 25,2222           70110                           MASK     RADMODES                              
023117,001906: 25,2223           54110                           TS       RADMODES                              
023118,001907: 
023119,001908: 25,2224           34742                           CAF      DESIGBIT                              #  WAS REMODE CALLED DURING DESIGNATE?
023120,001909: 25,2225           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
023121,001910: 25,2226           00006                           EXTEND                                         
023122,001911: 25,2227           13555                           BZF      RGOODEND                              #  NO - RETURN TO CALLER WAITING IN RADSTALL
023123,001912: 25,2230           02602                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
023124,001913: 25,2231     7740               -45DEGSR           =        13,14,15                              
023125,001914: 25,2231           67070        -50DEGSR           DEC      -.27778                               
023126,001915: 25,2232           61615        -80DEGSR           DEC      -.44444                               
023127,001916: 
023128,001917: 25,2233           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
023129,001918: 25,2234           34740                           CAF      ANTENBIT                              
023130,001919: 25,2235           00006                           EXTEND                                         
023131,001920: 25,2236           06001                           RXOR     LCHAN                                 
023132,001921: 25,2237           54110                           TS       RADMODES                              
023133,001922: 25,2240           00002                           TC       Q                                     
023134,001923: 

Page 533

023136,001925:                                                                                                  #  PROGRAM NAMES_        RRTONLY, RRSONLY
023137,001926: 
023138,001927:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023139,001928: 
023140,001929:                                                                                                  #        RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023141,001930:                                                                                                  #        RR MANEUVERS FOR REMODE AND REPOSITION.  IT DRIVES TO
023142,001931:                                                                                                  #        WITHIN 1 DEGREE.  INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023143,001932:                                                                                                  #        FLAGS (RADMODES BITS 14, 11) ARE CHECKED.  IF BOTH EXIST,
023144,001933:                                                                                                  #        THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS).  THIS INDICATES
023145,001934:                                                                                                  #        THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023146,001935:                                                                                                  #        WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023147,001936:                                                                                                  #        REPOSITION IS IN PROGRESS (RADMODES BIT 11).  IF NONE
023148,001937:                                                                                                  #        OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023149,001938:                                                                                                  #        IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE.  IF YES,
023150,001939:                                                                                                  #        CONTROL RETURNS TO THE CALLING ROUTINE.  IF NOT, CONTROL IS
023151,001940:                                                                                                  #        TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023152,001941:                                                                                                  #        ANGLE SET = 0.  FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023153,001942:                                                                                                  #        REPEATED.
023154,001943: 
023155,001944:                                                                                                  #  CALLING SEQUENCE:     L-1     CAF     *ANGLE*         (DESIRED ANGLE SCALED PI)
023156,001945:                                                                                                  #                        L       TC      RRTONLY         (TRUNNION ONLY)
023157,001946:                                                                                                  #                        RRSONLY                         (SHAFT ONLY)
023158,001947:                                                                                                  #                        RRTONLY IS CALLED BY PREPOS29;
023159,001948:                                                                                                  #                        RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023160,001949: 
023161,001950:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023162,001951: 
023163,001952:                                                                                                  #        C(A) = DESIRED ANGLE, RADMODES
023164,001953: 
023165,001954:                                                                                                  #  SUBROUTINES CALLED_
023166,001955: 
023167,001956:                                                                                                  #        FIXDELAY, REPOSRPT, MAGSUB, RROUT
023168,001957: 
023169,001958:                                                                                                  #  JOBS OR TASKS INITIATED_
023170,001959: 
023171,001960:                                                                                                  #        NONE
023172,001961: 
023173,001962:                                                                                                  #  ALARMS_  NONE
023174,001963: 
023175,001964:                                                                                                  #  EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023176,001965:                                                                                                  #        BITS 14, 11)
023177,001966:                                                                                                  #        L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023178,001967: 
023179,001968: 25,2241           55316        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
023180,001969: 25,2242           34755                           CAF      ZERO                                  
023181,001970: 25,2243           12246                           TCF      RR1AXIS                               
023182,001971: 
023183,001972: 25,2244           55316        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023184,001973: 25,2245           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023185,001974: 
023186,001975: 25,2246           55317        RR1AXIS            TS       RRINDEX                               
023187,001976: 25,2247           00006                           EXTEND                                         
023188,001977: 25,2250           23315                           QXCH     RRRET                                 
023189,001978: 25,2251           12254                           TCF      RR1AX2                                
023190,001979: 

Page 534

023192,001981: 25,2252           05221        NXTRR1AX           TC       FIXDELAY                              
023193,001982: 25,2253           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
023194,001983: 
023195,001984: 25,2254           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
023196,001985: 25,2255           77710                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
023197,001986: 25,2256           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
023198,001987: 25,2257           12144                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
023199,001988: 
023200,001989: 25,2260           31316                           CA       RDES                                  
023201,001990: 25,2261           00006                           EXTEND                                         
023202,001991: 25,2262           51317                           INDEX    RRINDEX                               
023203,001992: 25,2263           20035                           MSU      CDUT                                  
023204,001993: 25,2264           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
023205,001994: 25,2265           00006                           EXTEND                                         
023206,001995: 25,2266           72305                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
023207,001996: 25,2267           54001                           TS       L                                     
023208,001997: 25,2270           30110                           CA       RADMODES                              
023209,001998: 25,2271           74752                           MASK     AUTOMBIT                              
023210,001999: 25,2272           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
023211,002000: 25,2273           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
023212,002001: 25,2274           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
023213,002002: 
023214,002003: 25,2275           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
023215,002004: 25,2276           01315                           TC       RRRET                                 #  RETURN TO CALLER.
023216,002005: 
023217,002006: 25,2277           11317                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
023218,002007: 25,2300           12302                           TCF      +2                                    #  SETTING A TO 0.
023219,002008: 25,2301           56001                           XCH      L                                     
023220,002009: 25,2302           53110                           DXCH     TANG                                  
023221,002010: 
023222,002011: 25,2303           02306                           TC       RROUT                                 
023223,002012: 
023224,002013: 25,2304           12252                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
023225,002014: 
023226,002015: 25,2305           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
023227,002016: 

Page 535

023229,002018:                                                                                                  #  PROGRAM NAME_  RROUT                                                          RROR COUNTER SCALING. RROUT LIMITS THEM
023230,002019: 
023231,002020:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023232,002021: 
023233,002022:                                                                                                  #        RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023234,002023:                                                                                                  #        ERROR COUNTER SCALING.  RROUT THEN LIMITS THEM AND
023235,002024:                                                                                                  #        GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023236,002025:                                                                                                  #        TO THE DESIRED VALUES.  INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023237,002026:                                                                                                  #        THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023238,002027:                                                                                                  #        384 PULSES.  IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023239,002028:                                                                                                  #        LIMIT THE COMMAND TO +384 OR -384 PULSES.  THE DIFFERENCE IS
023240,002029:                                                                                                  #        THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023241,002030:                                                                                                  #        THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023242,002031:                                                                                                  #        THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023243,002032:                                                                                                  #        PASS).  FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023244,002033:                                                                                                  #        OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023245,002034:                                                                                                  #        ARE SET.  THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023246,002035: 
023247,002036:                                                                                                  #  CALLING SEQUENCE:
023248,002037:                                                                                                  #        
023249,002038:                                                                                                  #        L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023250,002039:                                                                                                  #        RRTONLY, RRSONLY, AND DODES
023251,002040: 
023252,002041:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023253,002042: 
023254,002043:                                                                                                  #        TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023255,002044:                                                                                                  #        (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023256,002045: 
023257,002046:                                                                                                  #  SUBROUTINES CALLED_
023258,002047: 
023259,002048:                                                                                                  #        MAGSUB
023260,002049: 
023261,002050:                                                                                                  #  JOBS OR TASKS INITIATED_
023262,002051: 
023263,002052:                                                                                                  #        NONE
023264,002053: 
023265,002054:                                                                                                  #  ALARMS_  NONE
023266,002055: 
023267,002056:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                                           SIRED VALUES. RUPT MUST BE INHIBITED.
023268,002057: 
023269,002058: 25,2306           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
023270,002059: 25,2307           34753                           CAF      ONE                                   #  LOOP TWICE.
023271,002060: 25,2310           54062        RROUT2             TS       ITEMP2                                
023272,002061: 25,2311           50000                           INDEX    A                                     
023273,002062: 25,2312           31107                           CA       TANG                                  
023274,002063: 25,2313           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
023275,002064: 
023276,002065: 25,2314           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
023277,002066: 25,2315           77177        -RRLIMIT           DEC      -384       B-14                       
023278,002067: 25,2316           12335                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
023279,002068: 
023280,002069: 25,2317           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
023281,002070: 25,2320           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
023282,002071: 25,2321           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
023283,002072: 25,2322           40000                           COM                                            

Page 536

023285,002074: 25,2323           60061                           AD       ITEMP1                                
023286,002075: 25,2324           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
023287,002076: 25,2325           50062                           INDEX    ITEMP2                                
023288,002077: 25,2326           54053                           TS       CDUTCMD                               
023289,002078: 
023290,002079: 25,2327           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
023291,002080: 25,2330           12310                           TCF      RROUT2                                
023292,002081: 
023293,002082: 25,2331           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
023294,002083: 25,2332           00006                           EXTEND                                         
023295,002084: 25,2333           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
023296,002085: 25,2334           00001                           TC       L                                     #  RETURN.
023297,002086: 
023298,002087: 25,2335           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
023299,002088: 25,2336           42315                           CS       -RRLIMIT                              
023300,002089: 25,2337           12341                           TCF      +2                                    
023301,002090: 25,2340           32315                           CA       -RRLIMIT                              
023302,002091: 25,2341           54061                           TS       ITEMP1                                
023303,002092: 25,2342           12320                           TCF      SETRRCTR   +1                         
023304,002093: 

Page 537

023306,002095:                                                                                                  #  ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023307,002096: 
023308,002097: 25,2343           32372        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
023309,002098: 25,2344           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
023310,002099: 25,2345           10000                           CCS      A                                     
023311,002100: 25,2346           13530                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
023312,002101: 
023313,002102: 25,2347           00004                           INHINT                                         
023314,002103: 25,2350           44737                           CS       RCDU0BIT                              #  SET FLAG TO SHOW ZEROING IN PROGRESS.
023315,002104: 25,2351           70110                           MASK     RADMODES                              
023316,002105: 25,2352           64737                           AD       RCDU0BIT                              
023317,002106: 25,2353           54110                           TS       RADMODES                              
023318,002107: 
023319,002108: 25,2354           34753                           CAF      ONE                                   
023320,002109: 25,2355           05203                           TC       WAITLIST                              
023321,002110: 25,2356  E7,1456                                  EBANK=   LOSCOUNT                              
023322,002111: 25,2356           02370 52067                     2CADR    RRZ2                                  
023323,002112: 
023324,002113: 25,2360           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
023325,002114: 25,2361           74752                           MASK     AUTOMBIT                              
023326,002115: 25,2362           10000                           CCS      A                                     
023327,002116: 25,2363           12366                           TCF      ROADBACK                              
023328,002117: 25,2364           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
023329,002118: 25,2365           00510                           OCT      510                                   
023330,002119: 25,2366           00003        ROADBACK           RELINT                                         
023331,002120: 25,2367           14631                           TCF      SWRETURN                              
023332,002121: 
023333,002122: 25,2370           02071        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
023334,002123: 25,2371           13546                           TCF      ENDRADAR                              
023335,002124: 
023336,002125: 25,2372           02001        BIT11+1            OCT      02001                                 
023337,002126: 

Page 538

023339,002128:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                        R (HALF-UNIT) IN RRTARGET. REMODES IF
023340,002129: 
023341,002130:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023342,002131: 
023343,002132:                                                                                                  #        THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023344,002133:                                                                                                  #        WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023345,002134:                                                                                                  #        (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023346,002135:                                                                                                  #        ORIENTATION.  INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023347,002136:                                                                                                  #        TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023348,002137:                                                                                                  #        MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023349,002138:                                                                                                  #        RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023350,002139:                                                                                                  #        TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023351,002140:                                                                                                  #        RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023352,002141:                                                                                                  #        PRESENT MODE ARE WITHIN LIMITS.  IF WITHIN LIMITS, THE RETURN
023353,002142:                                                                                                  #        LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023354,002143:                                                                                                  #        REQUIRED, BEFORE EXITING TO STARTDES.  IF NOT WITHIN LIMITS OF THE
023355,002144:                                                                                                  #        CURRENT MODE, TRYSWS IS CALLED.  FOLLOWING INVERTING OF THE RR
023356,002145:                                                                                                  #        ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023357,002146:                                                                                                  #        TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023358,002147:                                                                                                  #        LIMITS.  IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023359,002148:                                                                                                  #        THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023360,002149:                                                                                                  #        INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023361,002150:                                                                                                  #        EXITING TO STARTDES.  IF THESE ANGLES ARE NOT WITHIN LIMITS
023362,002151:                                                                                                  #        OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023363,002152:                                                                                                  #        BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023364,002153:                                                                                                  #        TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023365,002154: 
023366,002155:                                                                                                  #  CALLING SEQUENCE:
023367,002156: 
023368,002157:                                                                                                  #        L       STCALL  RRTARGET        (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023369,002158:                                                                                                  #        L+1     RRDESSM
023370,002159:                                                                                                  #        L+2     BASIC                   (VEHICLE MANEUVER REQUIRED)
023371,002160:                                                                                                  #        L+3     BASIC                   (NO VEHICLE MANEUVER REQUIRED)
023372,002161: 
023373,002162:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023374,002163: 
023375,002164:                                                                                                  #        RRTARGET, RADMODES
023376,002165: 
023377,002166:                                                                                                  #  SUBROUTINES CALLED_
023378,002167: 
023379,002168:                                                                                                  #        READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023380,002169:                                                                                                  #        PART OF), RMODINV
023381,002170: 
023382,002171:                                                                                                  #  JOBS OR TASKS INITIATED_
023383,002172: 
023384,002173:                                                                                                  #        NONE
023385,002174: 
023386,002175:                                                                                                  #  ALARMS_  NONE
023387,002176: 
023388,002177:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023389,002178:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
023390,002179:                                                                                                  #  TO L+3 FROM STARTDES)                                                         CAN BE DONE IN PRESENT VEH ATTITUDE.
023391,002180: 
023392,002181: 25,2373           43020        RRDESSM            STQ      CLEAR                                 
023393,002182: 25,2374           01113                                    DESRET                                

Page 539

023395,002184: 25,2375           00271                                    RRNBSW                                
023396,002185: 25,2376           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
023397,002186: 25,2377           47537                                    CDUTRIG                               
023398,002187: 25,2400           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
023399,002188: 25,2401           01102                                    RRTARGET                              
023400,002189: 25,2402           47671                                    *SMNB*                                
023401,002190: 
023402,002191: 25,2403           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
023403,002192: 25,2404           26133                                    RRANGLES                              #  ALTERNATE MODE.
023404,002193: 25,2405           77776                           EXIT                                           
023405,002194: 
023406,002195: 25,2406           00004                           INHINT                                         
023407,002196: 25,2407           04523                           TC       RRLIMCHK                              
023408,002197: 25,2410           01107                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
023409,002198: 25,2411           02414                           TC       +3                                    #  NOT IN CURRENT MODE
023410,002199: 25,2412           25113        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023411,002200: 25,2413           02432                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
023412,002201: 25,2414           40104                           CS       FLAGWRD8                              
023413,002202: 25,2415           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023414,002203: 25,2416           00006                           EXTEND                                         
023415,002204: 25,2417           12456                           BZF      NORDSTAL                              #  BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023416,002205: 25,2420           02461                           TC       TRYSWS                                
023417,002206: 
023418,002207: 25,2421           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
023419,002208: 25,2422           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
023420,002209: 25,2423           00006                           EXTEND                                         
023421,002210: 25,2424           12456                           BZF      NORDSTAL                              #  BRANCH - YES - RETURN TO CALLER - ALARM 527
023422,002211: 25,2425           30074                           CA       STATE                                 
023423,002212: 25,2426           74745                           MASK     RNDVZBIT                              
023424,002213: 25,2427           10000                           CCS      A                                     #  TEST RNDVZFLG.
023425,002214: 25,2430           02471                           TC       NODESSM                               #  NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023426,002215: 25,2431           15155                           TCF      ENDOFJOB                              #  ... BUT NOT IN R29.
023427,002216: 

Page 540

023429,002218:                                                                                                  #  PROGRAM NAME_  STARTDES                                                       STORED AS A HALF-UNIT VECTOR IN RRTARGET
023430,002219: 
023431,002220:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       CKON IS DESIRED. BIT14 OF RADMODES IS
023432,002221:                                                                                                  #        STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
023433,002222:                                                                                                  #        BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
023434,002223:                                                                                                  #        AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
023435,002224:                                                                                                  #        OPERATION.  IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023436,002225:                                                                                                  #        ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023437,002226:                                                                                                  #        OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023438,002227:                                                                                                  #        DESIGNATION BEGINS.  INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023439,002228:                                                                                                  #        THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023440,002229:                                                                                                  #        (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5).  BIT 10
023441,002230:                                                                                                  #        OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023442,002231:                                                                                                  #        THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF SET,
023443,002232:                                                                                                  #        THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023444,002233:                                                                                                  #        AND RRDESNB).  THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023445,002234:                                                                                                  #        ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023446,002235:                                                                                                  #        REQUESTED.  IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023447,002236:                                                                                                  #        WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023448,002237:                                                                                                  #        AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023449,002238:                                                                                                  #        DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023450,002239:                                                                                                  #        COUNTERS.  A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023451,002240:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023452,002241: 
023453,002242:                                                                                                  #  CALLING SEQUENCE:
023454,002243: 
023455,002244:                                                                                                  #        FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023456,002245: 
023457,002246:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023458,002247: 
023459,002248:                                                                                                  #        RADMODES, (SEE DODES)
023460,002249: 
023461,002250:                                                                                                  #  SUBROUTINES CALLED_
023462,002251: 
023463,002252:                                                                                                  #        SETRRECR, WAITLIST
023464,002253: 
023465,002254:                                                                                                  #  JOBS OR TASKS INITIATED_
023466,002255: 
023467,002256:                                                                                                  #        BEGDES
023468,002257: 
023469,002258:                                                                                                  #  ALARMS_  NONE
023470,002259: 
023471,002260:                                                                                                  #  EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023472,002261:                                                                                                  #        L+2 OF CALLING PROGRAM (SEE RRDESNB)
023473,002262: 
023474,002263: 25,2432           25113        STARTDES           INCR     DESRET                                
023475,002264: 25,2433           40110                           CS       RADMODES                              
023476,002265: 25,2434           74742                           MASK     DESIGBIT                              
023477,002266: 25,2435           26110                           ADS      RADMODES                              
023478,002267: 25,2436           74741                           MASK     REPOSBIT                              #  SEE IF REPOSITIONING IN PROGRESS.
023479,002268: 25,2437           10000                           CCS      A                                     
023480,002269: 25,2440           12446                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
023481,002270: 
023482,002271: 25,2441           02156                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.

Page 541

023484,002273: 25,2442           34752                           CAF      TWO                                   
023485,002274: 25,2443           05203                           TC       WAITLIST                              
023486,002275: 25,2444  E7,1456                                  EBANK=   LOSCOUNT                              
023487,002276: 25,2444           02573 52067                     2CADR    BEGDES                                
023488,002277: 
023489,002278: 25,2446           31306        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
023490,002279: 25,2447           00006                           EXTEND                                         
023491,002280: 25,2450           12452                           BZF      DESRTRN                               #  YES   SET EXIT
023492,002281: 25,2451           05155                           TC       ENDOFJOB                              #  NO
023493,002282: 25,2452           00003        DESRTRN            RELINT                                         
023494,002283: 25,2453           25113                           INCR     DESRET                                
023495,002284: 25,2454           31113                           CA       DESRET                                
023496,002285: 25,2455           14640                           TCF      BANKJUMP                              
023497,002286: 
023498,002287: 25,2456           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE OUT ANYONE
023499,002288: 25,2457           55306                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
023500,002289: 25,2460           12452                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
023501,002290: 

Page 542

023503,002292:                                                                                                  #  SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023504,002293: 
023505,002294: 25,2461           02233        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
023506,002295: 25,2462           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
023507,002296: 25,2463           01111                           ADRES    MODEB                                 
023508,002297: 25,2464           12471                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
023509,002298: 
023510,002299: 25,2465           02233                           TC       RMODINV                               #  RESET BIT12
023511,002300: 25,2466           34736                           CAF      REMODBIT                              #  SET FLAG FOR REMODE.
023512,002301: 25,2467           26110                           ADS      RADMODES                              
023513,002302: 
023514,002303: 25,2470           12412                           TCF      OKDESSM                               
023515,002304: 
023516,002305: 25,2471           02233        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
023517,002306: 25,2472           25113                           INCR     DESRET                                #  TO CALLER +2
023518,002307: 25,2473           12456                           TCF      NORDSTAL                              
023519,002308: 
023520,002309: 25,2474           00074        MAXTRYS            DEC      60         B-14                       
023521,002310: 

Page 543

023523,002312:                                                                                                  #  DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION).  ENTER WITH DESIRED ANGLES IN
023524,002313:                                                                                                  #  TANG AND TANG +1.
023525,002314: 
023526,002315: 25,2475           04645        RRDESNB            TC       MAKECADR                              
023527,002316: 25,2476           55113                           TS       DESRET                                
023528,002317: 
023529,002318: 25,2477           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
023530,002319: 25,2500           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
023531,002320: 25,2501           32474                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
023532,002321: 25,2502           55114                           TS       DESCOUNT                              #  FOR DESIGNATE
023533,002322: 25,2503           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
023534,002323: 25,2504           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023535,002324: 25,2505           01107                           ADRES    TANG                                  
023536,002325: 25,2506           12523                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
023537,002326: 
023538,002327: 25,2507           00003        OKDESNB            RELINT                                         
023539,002328: 25,2510           00006                           EXTEND                                         
023540,002329: 25,2511           31110                           DCA      TANG                                  
023541,002330: 25,2512           53753                           DXCH     TANGNB                                
023542,002331: 25,2513           06037                           TC       INTPRET                               
023543,002332: 
023544,002333: 25,2514           77624                           CALL                                           #  GET LOS IN NB COORDS.
023545,002334: 25,2515           46041                                    RRNB                                  
023546,002335: 25,2516           01102                           STORE    RRTARGET                              
023547,002336: 
023548,002337: 25,2517           77414                           SET      EXIT                                  
023549,002338: 25,2520           00071                                    RRNBSW                                
023550,002339: 
023551,002340: 25,2521           00004                           INHINT                                         
023552,002341: 25,2522           12433                           TCF      STARTDES   +1                         
023553,002342: 25,2523           02233        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
023554,002343: 25,2524           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023555,002344: 25,2525           01107                           ADRES    TANG                                  
023556,002345: 25,2526           12533                           TCF      NODESNB                               #  NOT POSSIBLE.
023557,002346: 
023558,002347: 25,2527           02233                           TC       RMODINV                               
023559,002348: 25,2530           34736                           CAF      REMODBIT                              #  CALL FOR REMODE.
023560,002349: 25,2531           26110                           ADS      RADMODES                              
023561,002350: 25,2532           12507                           TCF      OKDESNB                               
023562,002351: 
023563,002352: 25,2533           02233        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
023564,002353: 25,2534           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
023565,002354: 25,2535           00502                           OCT      502                                   
023566,002355: 25,2536           06011                           TC       CLRADMOD                              
023567,002356: 25,2537           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
023568,002357: 
023569,002358: 25,2540           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023570,002359: 25,2541           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
023571,002360: 25,2542           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
023572,002361: 25,2543           00006                           EXTEND                                         

Page 544

023574,002363: 25,2544           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
023575,002364: 25,2545           30001                           DCA      0                                     
023576,002365: 25,2546           52062                           DXCH     ITEMP1                                
023577,002366: 25,2547           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
023578,002367: 
023579,002368: 25,2550           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
023580,002369: 25,2551           70110                           MASK     RADMODES                              
023581,002370: 25,2552           10000                           CCS      A                                     
023582,002371: 25,2553           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
023583,002372: 25,2554           30061                           CA       ITEMP1                                
023584,002373: 25,2555           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
023585,002374: 25,2556           66161                           DEC      -.30555                               #  1.    ABS(T) L 55 DEGS
023586,002375: 25,2557           00001                           TC       L                                     #  2     SHAFT LIMITS AT +59, -85 DEGS
023587,002376: 
023588,002377: 25,2560           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
023589,002378: 25,2561           00006                           EXTEND                                         
023590,002379: 25,2562           62570                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023591,002380: 25,2563           64562                           AD       5.5DEGS                               
023592,002381: 25,2564           04512        SHAFTLIM           TC       MAGSUB                                
023593,002382: 25,2565           64420                           DEC      -.35833                               #  64.5 DEGREES
023594,002383: 25,2566           00001                           TC       L                                     #  NOT IN LIMITS
023595,002384: 25,2567           04560                           TC       RRLIMOK                               #  IN LIMITS
023596,002385: 25,2570           62572        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023597,002386: 25,2571           12564                           TCF      SHAFTLIM                              
023598,002387: 
023599,002388: 25,2572           03512        20.5DEGS           DEC      .11389                                
023600,002389: 

Page 545

023602,002391:                                                                                                  #  PROGRAM NAME_  BEGDES
023603,002392: 
023604,002393:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023605,002394: 
023606,002395:                                                                                                  #        BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023607,002396:                                                                                                  #        ACTUAL RR DESIGNATION.  INITIALLY A CHECK IS MADE TO SEE IF A
023608,002397:                                                                                                  #        REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS.  IF SO,
023609,002398:                                                                                                  #        CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023610,002399:                                                                                                  #        EXECUTED.  IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023611,002400:                                                                                                  #        FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF
023612,002401:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023613,002402:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO RDBADEND.  IF THE REPOSITION
023614,002403:                                                                                                  #        FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023615,002404:                                                                                                  #        BIT 15) IS CHECKED.  IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023616,002405:                                                                                                  #        MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023617,002406:                                                                                                  #        REPEATING AT STDESIG.  IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023618,002407:                                                                                                  #        TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023619,002408:                                                                                                  #        IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023620,002409:                                                                                                  #        BIT 10) IS CHECKED.  IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023621,002410:                                                                                                  #        CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM.  IF DESIGNATE
023622,002411:                                                                                                  #        IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023623,002412:                                                                                                  #        EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023624,002413:                                                                                                  #        SIGNAL.  IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023625,002414:                                                                                                  #        RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023626,002415:                                                                                                  #        (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023627,002416:                                                                                                  #        (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND.  IF
023628,002417:                                                                                                  #        TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023629,002418:                                                                                                  #        EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023630,002419:                                                                                                  #        BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023631,002420: 
023632,002421:                                                                                                  #  CALLING SEQUENCE:
023633,002422: 
023634,002423:                                                                                                  #        WAITLIST CALL FROM STARTDES
023635,002424:                                                                                                  #        TCF BEGDES FROM DORREPOS
023636,002425:                                                                                                  #        TC STDESIG RETURNING, FROM REMODE
023637,002426: 
023638,002427:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023639,002428:                                                                                                  #        DESCOUNT, RADMODES
023640,002429: 
023641,002430:                                                                                                  #  SUBROUTINES CALLED_
023642,002431:                                                                                                  #        ENDRADAR, FINDVAC
023643,002432: 
023644,002433:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
023645,002434: 
023646,002435:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023647,002436:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023648,002437: 
023649,002438:                                                                                                  #  EXIT_         TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023650,002439:                                                                                                  #                ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023651,002440:                                                                                                  #                RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023652,002441: 
023653,002442: 25,2573           40110        BEGDES             CS       RADMODES                              

Page 546

023655,002444: 25,2574           74736                           MASK     REMODBIT                              
023656,002445: 25,2575           10000                           CCS      A                                     
023657,002446: 25,2576           02602                           TC       STDESIG                               
023658,002447: 25,2577           02171                           TC       REMODE                                
023659,002448: 25,2600           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
023660,002449: 25,2601           00062                           DEC      50         B-14                       
023661,002450: 
023662,002451: 25,2602           34741        STDESIG            CAF      REPOSBIT                              
023663,002452: 25,2603           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023664,002453: 25,2604           10000                           CCS      A                                     #  OUT OF BOUNDS.  IF SO, THIS BIT SHOWS A
023665,002454: 25,2605           12623                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
023666,002455: 
023667,002456: 25,2606           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
023668,002457: 25,2607           12612                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
023669,002458: 25,2610           12612                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023670,002459: 25,2611           12630                           TCF      MOREDES    +1                         
023671,002460: 
023672,002461: 25,2612           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
023673,002462: 25,2613           74742                           MASK     DESIGBIT                              #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023674,002463: 25,2614           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT).  IF SO, EXIT AFTER
023675,002464: 25,2615           13546                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
023676,002465: 
023677,002466: 25,2616           11114        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
023678,002467: 25,2617           12627                           TCF      MOREDES                               
023679,002468: 
023680,002469: 25,2620           42635                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023681,002470: 25,2621           00006                           EXTEND                                         
023682,002471: 25,2622           03012                           WAND     CHAN12                                
023683,002472: 25,2623           44742        BADDES             CS       DESIGBIT                              #  REMOVE DESIGNATE FLAG
023684,002473: 25,2624           70110                           MASK     RADMODES                              
023685,002474: 25,2625           54110                           TS       RADMODES                              
023686,002475: 25,2626           13562                           TCF      RDBADEND                              
023687,002476: 
023688,002477: 25,2627           55114        MOREDES            TS       DESCOUNT                              
023689,002478: 25,2630           37714                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
023690,002479: 25,2631           05105                           TC       FINDVAC                               
023691,002480: 25,2632  E7,1456                                  EBANK=   LOSCOUNT                              
023692,002481: 25,2632           02636 52067                     2CADR    DODES                                 
023693,002482: 
023694,002483: 25,2634           12600                           TCF      DESLOOP                               
023695,002484: 
023696,002485: 25,2635           20002        B14+B2             OCT      20002                                 
023697,002486: 

Page 547

023699,002488:                                                                                                  #  PROGRAM NAME_  DODES
023700,002489: 
023701,002490:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023702,002491: 
023703,002492:                                                                                                  #        DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023704,002493:                                                                                                  #        COMMANDS.  INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023705,002494:                                                                                                  #        THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023706,002495:                                                                                                  #        NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY.  THE
023707,002496:                                                                                                  #        SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023708,002497:                                                                                                  #                + SHAFT = LOS . (COS(S), 0, -SIN(S))  (DOT PRODUCT)
023709,002498:                                                                                                  #                - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023710,002499:                                                                                                  #        THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023711,002500:                                                                                                  #        (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE 
023712,002501:                                                                                                  #        POLARITY OF THE COMMAND.  AT RRSCALUP EACH COMMAND IS
023713,002502:                                                                                                  #        SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023714,002503:                                                                                                  #        .5 DEGREES, MPAC +1 IS SET POSITIVE.  IF A CONTINUOUS DESIGNATE 
023715,002504:                                                                                                  #        (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023716,002505:                                                                                                  #        THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023717,002506:                                                                                                  #        CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023718,002507:                                                                                                  #        IS IN PROGRESS.  IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023719,002508:                                                                                                  #        OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED.  IF NO
023720,002509:                                                                                                  #        CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023721,002510:                                                                                                  #        INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023722,002511:                                                                                                  #        CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023723,002512:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5
023724,002513:                                                                                                  #        DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023725,002514:                                                                                                  #        (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023726,002515:                                                                                                  #        COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023727,002516:                                                                                                  #        PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023728,002517:                                                                                                  #        LOCK-ON FLAG (STATE BIT 5) IS CHECKED.  IF NOT PRESENT, THE
023729,002518:                                                                                                  #        DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023730,002519:                                                                                                  #        COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023731,002520:                                                                                                  #        CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023732,002521:                                                                                                  #        BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023733,002522:                                                                                                  #        RR DATA GOOD (CHAN 33 BIT 4) SIGNAL.  IF RR DATA GOOD
023734,002523:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023735,002524:                                                                                                  #        THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023736,002525:                                                                                                  #        AND ENDOFJOB CALLED.  IF RR DATA GOOD IS NOT PRESENT, RROUT
023737,002526:                                                                                                  #        IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023738,002527:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023739,002528:                                                                                                  #        VIA ENDOFJOB.
023740,002529: 
023741,002530:                                                                                                  #  CALLING SEQUENCE:
023742,002531: 
023743,002532:                                                                                                  #        EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023744,002533: 
023745,002534:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023746,002535: 
023747,002536:                                                                                                  #        RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023748,002537:                                                                                                  #        LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023749,002538: 
023750,002539:                                                                                                  #  SUBROUTINES CALLED_
023751,002540: 
023752,002541:                                                                                                  #        READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT

Page 548

023754,002543: 
023755,002544:                                                                                                  #  JOBS OR TASKS INITIATED_
023756,002545: 
023757,002546:                                                                                                  #        NONE
023758,002547: 
023759,002548:                                                                                                  #  ALARMS_  NONE
023760,002549: 
023761,002550:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
023762,002551: 
023763,002552: 25,2636           00006        DODES              EXTEND                                         
023764,002553: 25,2637           30036                           DCA      CDUT                                  
023765,002554: 25,2640           53110                           DXCH     TANG                                  
023766,002555: 
023767,002556: 25,2641           06037                           TC       INTPRET                               
023768,002557: 
023769,002558: 25,2642           77201                           SETPD    VLOAD                                 
023770,002559: 25,2643           00001                                    0                                     
023771,002560: 25,2644           01102                                    RRTARGET                              
023772,002561: 25,2645           74214                           BON      VXSC                                  
023773,002562: 25,2646           00311                                    RRNBSW                                
023774,002563: 25,2647           52661                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
023775,002564: 25,2650           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
023776,002565: 25,2651           63372                           VSL1     PDVL                                  
023777,002566: 25,2652           01761                                    LOSVEL                                
023778,002567: 25,2653           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
023779,002568: 25,2654           13072                                    MCTOMS                                
023780,002569: 25,2655           45056                           UNIT     CALL                                  
023781,002570: 25,2656           47537                                    CDUTRIG                               
023782,002571: 25,2657           77624                           CALL                                           
023783,002572: 25,2660           47671                                    *SMNB*                                
023784,002573: 
023785,002574: 25,2661           14041        DONBRD             STODL    32D                                   
023786,002575: 25,2662           01111                                    TANG       +1                         
023787,002576: 25,2663           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
023788,002577: 25,2664           21576                                    CDULOGIC                              #        (-SIN(S)).
023789,002578: 25,2665           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
023790,002579: 25,2666           41546                           COS      PUSH                                  
023791,002580: 25,2667           65205                           DMP      PDDL                                  
023792,002581: 25,2670           00041                                    32D                                   
023793,002582: 25,2671           00045                                    36D                                   
023794,002583: 25,2672           44205                           DMP      BDSU                                  
023795,002584: 25,2673           00001                                    0                                     
023796,002585: 25,2674           77626                           STADR                                          
023797,002586: 25,2675           76666                           STORE    TANG       +1                         #  SHAFT COMMAND
023798,002587: 
023799,002588: 25,2676           47135                           SLOAD    RTB                                   
023800,002589: 25,2677           01110                                    TANG                                  
023801,002590: 25,2700           21576                                    CDULOGIC                              
023802,002591: 25,2701           71406                           PUSH     COS                                   #  COS(T) TO 4.
023803,002592: 25,2702           73525                           PDDL     SIN                                   
023804,002593: 25,2703           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
023805,002594: 25,2704           00003                                    2                                     

Page 549

023807,002596: 25,2705           65352                           SL1      PDDL                                  #  DEFINE VECTOR U =     (SIN(T)SIN(S))
023808,002597: 25,2706           00005                                    4                                     #                        (   COS(T)   )
023809,002598: 25,2707           41325                           PDDL     DMP                                   #                        (SIN(T)COS(S))
023810,002599: 25,2710           00007                                    6                                     
023811,002600: 25,2711           00001                                    0                                     
023812,002601: 25,2712           55552                           SL1      VDEF                                  
023813,002602: 25,2713           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
023814,002603: 25,2714           00041                                    32D                                   
023815,002604: 

Page 550

023817,002606:                                                                                                  #  AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE.  CONVERT THIS TO A
023818,002607:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023819,002608: 
023820,002609: 25,2715           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
023821,002610: 25,2716           00006                           EXTEND                                         
023822,002611: 25,2717           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023823,002612: 25,2720           55107                           TS       TANG                                  #  TRUNNION COMMAND.
023824,002613: 25,2721           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
023825,002614: 25,2722           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
023826,002615: 25,2723           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
023827,002616: 25,2724           12727                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
023828,002617: 25,2725           31110                           CA       TANG       +1                         #  SHAFT ANGLE.  COMPENSATE FOR THIS SWITCH
023829,002618: 25,2726           12730                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
023830,002619: 25,2727           41110                 +3        CS       TANG       +1                         
023831,002620: 25,2730           00006                           EXTEND                                         
023832,002621: 25,2731           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023833,002622: 25,2732           55110                           TS       TANG       +1                         #  SHAFT COMMAND.
023834,002623: 25,2733           06037                           TC       INTPRET                               
023835,002624: 
023836,002625: 25,2734           41345                           DLOAD    DMP                                   
023837,002626: 25,2735           00003                                    2                                     #  COS(S).
023838,002627: 25,2736           00005                                    4                                     #  COS(T).
023839,002628: 25,2737           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
023840,002629: 25,2740           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
023841,002630: 25,2741           00001                                    0                                     #  SIN(S).
023842,002631: 25,2742           72405                           DMP      SL1                                   
023843,002632: 25,2743           00005                                    4                                     #  COS(T).
023844,002633: 25,2744           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
023845,002634: 25,2745           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
023846,002635: 25,2746           52751                                    +3                                    
023847,002636: 25,2747           77624                           CALL                                           
023848,002637: 25,2750           47673                                    *NBSM*                                #  GET URR IN SM AXES.
023849,002638: 25,2751           77441                           DOT      EXIT                                  
023850,002639: 25,2752           01102                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
023851,002640: 
023852,002641: 25,2753           00006                           EXTEND                                         
023853,002642: 25,2754           43070                           DCS      COS1/2DG                              
023854,002643: 25,2755           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
023855,002644: 25,2756           10154                           CCS      MPAC                                  
023856,002645: 25,2757           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
023857,002646: 25,2760           12762                           TCF      +2                                    
023858,002647: 25,2761           34753                           CA       ONE                                   
023859,002648: 25,2762           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.

Page 551

023861,002650:                                                                                                  #  SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023862,002651: 
023863,002652: 25,2763           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023864,002653: 25,2764           12767                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
023865,002654: 25,2765           12767                           TCF      SIGNLCHK                              #  ERROR SIGNALS
023866,002655: 25,2766           13017                           TCF      DORROUT                               
023867,002656: 25,2767           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023868,002657: 25,2770           13000                           TCF      DGOODCHK                              
023869,002658: 25,2771           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023870,002659: 25,2772           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
023871,002660: 25,2773           10000                           CCS      A                                     
023872,002661: 25,2774           13005                           TCF      RRDESDUN                              
023873,002662: 
023874,002663: 25,2775           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
023875,002664: 25,2776           00006                           EXTEND                                         
023876,002665: 25,2777           05012                           WOR      CHAN12                                
023877,002666: 
023878,002667: 25,3000           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
023879,002668: 25,3001           00006                           EXTEND                                         
023880,002669: 25,3002           02033                           RAND     CHAN33                                
023881,002670: 25,3003           10000                           CCS      A                                     
023882,002671: 25,3004           13017                           TCF      DORROUT                               
023883,002672: 
023884,002673: 25,3005           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023885,002674: 25,3006           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
023886,002675: 25,3007           00004                           INHINT                                         
023887,002676: 25,3010           54110                           TS       RADMODES                              
023888,002677: 
023889,002678: 25,3011           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
023890,002679: 25,3012           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
023891,002680: 25,3013           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
023892,002681: 25,3014           00006                           EXTEND                                         
023893,002682: 25,3015           03012                           WAND     CHAN12                                
023894,002683: 25,3016           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
023895,002684: 
023896,002685: 25,3017           30076        DORROUT            CA       FLAGWRD2                              #  IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023897,002686: 25,3020           77712                           MASK     BIT12,14                              #  ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023898,002687: 25,3021           00006                           EXTEND                                         
023899,002688: 25,3022           13041                           BZF      NOTP20                                
023900,002689: 25,3023           06037                           TC       INTPRET                               
023901,002690: 25,3024           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
023902,002691: 25,3025           01102                                    RRTARGET                              
023903,002692: 25,3026           01767                                    MLOSV                                 
023904,002693: 25,3027           41572                           VSL1     PUSH                                  
023905,002694: 25,3030           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
023906,002695: 25,3031           01761                                    LOSVEL                                #  TO LOS VECTOR
023907,002696: 25,3032           13072                                    MCTOMS                                
023908,002697: 25,3033           53362                           VSR1     VAD                                   
023909,002698: 25,3034           77656                           UNIT                                           
023910,002699: 25,3035           15102                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)

Page 552

023912,002701: 25,3036           00045                                    36D                                   
023913,002702: 25,3037           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
023914,002703: 25,3040           77776                           EXIT                                           
023915,002704: 25,3041           00004        NOTP20             INHINT                                         
023916,002705: 25,3042           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
023917,002706: 25,3043           74741                           MASK     REPOSBIT                              #  REPOSITION HAS TAKEN OVER.
023918,002707: 25,3044           10000                           CCS      A                                     
023919,002708: 25,3045           02306                           TC       RROUT                                 
023920,002709: 
023921,002710: 25,3046           30076                           CA       FLAGWRD2                              
023922,002711: 25,3047           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
023923,002712: 25,3050           00006                           EXTEND                                         #  LOS COUNTER
023924,002713: 25,3051           15155                           BZF      ENDOFJOB                              
023925,002714: 25,3052           11456                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
023926,002715: 25,3053           03064                           TC       DODESEND                              #  A NEW LOS
023927,002716: 25,3054           00004                           INHINT                                         
023928,002717: 25,3055           06027                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
023929,002718: 25,3056           52602                           CADR     DESLOOP    +2                         
023930,002719: 25,3057           00003                           RELINT                                         
023931,002720: 25,3060           10067                           CCS      NEWJOB                                
023932,002721: 25,3061           05122                           TC       CHANG1                                
023933,002722: 25,3062           04616                           TC       BANKCALL                              
023934,002723: 25,3063           50731                           CADR     R21LEM2                               
023935,002724: 
023936,002725: 25,3064           55456        DODESEND           TS       LOSCOUNT                              
023937,002726: 25,3065           05155                           TC       ENDOFJOB                              
023938,002727: 
023939,002728: 25,3066           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
023940,002729: 25,3067     7712               BIT12,14           EQUALS   PRIO24                                #  OCT 24000
023941,002730: 25,3067           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
023942,002731: 25,3071           00310 00000  MCTOMS             2DEC     100        B-13                       
023943,002732: 

Page 553

023945,002734:                                                                                                  #  RADAR READ INITIALIZATION
023946,002735: 
023947,002736:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023948,002737: 
023949,002738: 25,3073           03113        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
023950,002739: 25,3074           00017        ALLREAD            OCT      17                                    
023951,002740: 
023952,002741: 25,3075           03114        LRVELZ             TC       INITREAD                              
023953,002742: 25,3076           00016                           OCT      16                                    
023954,002743: 
023955,002744: 25,3077           03114        LRVELY             TC       INITREAD                              
023956,002745: 25,3100           00015                           OCT      15                                    
023957,002746: 
023958,002747: 25,3101           03114        LRVELX             TC       INITREAD                              
023959,002748: 25,3102           00014                           OCT      14                                    
023960,002749: 
023961,002750: 25,3103           03113        RRRDOT             TC       INITREAD   -1                         
023962,002751: 25,3104           00012                           OCT      12                                    
023963,002752: 
023964,002753: 25,3105           03113        RRRANGE            TC       INITREAD   -1                         
023965,002754: 25,3106           00011                           OCT      11                                    
023966,002755: 
023967,002756:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023968,002757:                                                                                                  #  WANTED.  ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023969,002758: 
023970,002759: 25,3107           55105        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
023971,002760: 25,3110           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
023972,002761: 25,3111           51105                           INDEX    TIMEHOLD                              
023973,002762: 25,3112           13075                           TCF      LRVELZ                                
023974,002763: 

Page 554

023976,002765: 25,3113           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
023977,002766: 25,3114           00004        INITREAD           INHINT                                         
023978,002767: 
023979,002768: 25,3115           55105                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
023980,002769: 25,3116           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023981,002770: 25,3117           74751                           MP       BIT3                                  #  ENCOUNTERED).
023982,002771: 25,3120           53106                           DXCH     TIMEHOLD                              
023983,002772: 
023984,002773: 25,3121           10000                           CCS      A                                     
023985,002774: 25,3122           55111                           TS       NSAMP                                 
023986,002775: 25,3123           64753                           AD       ONE                                   
023987,002776:                                                                                                  #  INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023988,002777:                                                                                                  #                DOUBLE
023989,002778: 25,3124           55100                           TS       SAMPLIM                               
023990,002779: 
023991,002780: 25,3125           33147                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
023992,002781: 25,3126           00006                           EXTEND                                         
023993,002782: 25,3127           02033                           RAND     CHAN33                                
023994,002783: 25,3130           55113                           TS       OLDATAGD                              
023995,002784: 
023996,002785: 25,3131           43074                           CS       ALLREAD                               
023997,002786: 25,3132           00006                           EXTEND                                         
023998,002787: 25,3133           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
023999,002788: 
024000,002789: 25,3134           50002                           INDEX    Q                                     
024001,002790: 25,3135           30000                           CAF      0                                     
024002,002791: 25,3136           00006                           EXTEND                                         
024003,002792: 25,3137           05013                           WOR      CHAN13                                #  SET NEW RADAR BITS
024004,002793: 
024005,002794: 25,3140           00006                           EXTEND                                         
024006,002795: 25,3141           30025                           DCA      TIME2                                 
024007,002796: 25,3142           21106                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
024008,002797: 
024009,002798: 25,3143           34755                           CAF      ZERO                                  
024010,002799: 25,3144           54001                           TS       L                                     
024011,002800: 25,3145           53102                           DXCH     SAMPLSUM                              
024012,002801: 25,3146           12366                           TCF      ROADBACK                              
024013,002802: 
024014,002803: 25,3147           00230        DGBITS             OCT      230                                   
024015,002804: 

Page 555

024017,002806:                                                                                                  #  RADAR RUPT READER
024018,002807: 
024019,002808:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT.  IT READS THE DATA $ LOTS MORE.
024020,002809: 
024021,002810: 25,2000                                           SETLOC   RADARUPT                              
024022,002811: 25,2000                                           BANK                                           
024023,002812: 
024024,002813: 25,3150                                           COUNT*   $$/RRUPT                              
024025,002814: 25,3150           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
024026,002815: 25,3151           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
024027,002816: 25,3152           54016                           TS       BANKRUPT                              
024028,002817: 25,3153           00006                           EXTEND                                         
024029,002818: 25,3154           22012                           QXCH     QRUPT                                 
024030,002819: 
024031,002820: 25,3155           34757                           CAF      SEVEN                                 
024032,002821: 25,3156           00006                           EXTEND                                         
024033,002822: 25,3157           02013                           RAND     CHAN13                                
024034,002823: 25,3160           55335                           TS       DNINDEX                               
024035,002824: 25,3161           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO, DO NOT STORE
024036,002825: 25,3162           13166                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024037,002826: 25,3163           30046                           CA       RNRAD                                 
024038,002827: 25,3164           51335                           INDEX    DNINDEX                               
024039,002828: 25,3165           55332                           TS       DNRRANGE   -1                         
024040,002829: 25,3166           11100        TRYCOUNT           CCS      SAMPLIM                               
024041,002830: 25,3167           13211                           TCF      PLENTY                                
024042,002831: 25,3170           13174                           TCF      NOMORE                                
024043,002832: 25,3171           05567                           TC       ALARM                                 
024044,002833: 25,3172           00520                           OCT      520                                   
024045,002834: 25,3173           05270                           TC       RESUME                                
024046,002835: 
024047,002836: 25,3174           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
024048,002837: 25,3175           74735                           MASK     LRBYBIT                               
024049,002838: 25,3176           00006                           EXTEND                                         
024050,002839: 25,3177           13206                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
024051,002840: 
024052,002841: 25,3200           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
024053,002842: 25,3201           74743                           MASK     R04FLBIT                              #  IF 1, R04 IS RUNNING.  DO NOT ALARM-
024054,002843: 25,3202           00006                           EXTEND                                         
024055,002844: 25,3203           13206                           BZF      BADRAD                                
024056,002845: 
024057,002846: 25,3204           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
024058,002847: 25,3205           00521                           OCT      521                                   
024059,002848: 25,3206           44753        BADRAD             CS       ONE                                   
024060,002849: 25,3207           55100                           TS       SAMPLIM                               
024061,002850: 25,3210           03560                           TC       RDBADEND   -2                         
024062,002851: 25,3211           55100        PLENTY             TS       SAMPLIM                               
024063,002852: 25,3212           34751                           CAF      BIT3                                  
024064,002853: 25,3213           00006                           EXTEND                                         
024065,002854: 25,3214           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
024066,002855: 25,3215           00006                           EXTEND                                         

Page 556

024068,002857: 25,3216           13276                           BZF      RENDRAD                               
024069,002858: 
024070,002859: 25,3217           03364                           TC       R77CHECK                              #  R77 QUITS HERE.
024071,002860: 25,3220           30110        LRPOSCHK           CA       RADMODES                              #  SEE IF LR IN DESIRED POSITION.
024072,002861: 25,3221           00006                           EXTEND                                         
024073,002862: 25,3222           06033                           RXOR     CHAN33                                
024074,002863: 25,3223           74746                           MASK     BIT6                                  
024075,002864: 25,3224           00006                           EXTEND                                         
024076,002865: 25,3225           13231                           BZF      VELCHK                                
024077,002866: 
024078,002867: 25,3226           05567                           TC       ALARM                                 
024079,002868: 25,3227           00522                           OCT      522                                   
024080,002869: 25,3230           03206                           TC       BADRAD                                
024081,002870: 
024082,002871: 25,3231           36245        VELCHK             CAF      BIN3                                  #  = 00003 OCT
024083,002872: 25,3232           00006                           EXTEND                                         
024084,002873: 25,3233           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
024085,002874: 25,3234           76245                           MASK     BIN3                                  
024086,002875: 25,3235           00006                           EXTEND                                         
024087,002876: 25,3236           13272                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
024088,002877: 
024089,002878: 25,3237           34733                           CAF      POSMAX                                
024090,002879: 25,3240           70046                           MASK     RNRAD                                 
024091,002880: 25,3241           62000                           AD       LVELBIAS                              
024092,002881: 25,3242           54001                           TS       L                                     
024093,002882: 25,3243           30046                           CAE      RNRAD                                 
024094,002883: 25,3244           60000                           DOUBLE                                         
024095,002884: 25,3245           74753                           MASK     BIT1                                  
024096,002885: 25,3246           52064                           DXCH     ITEMP3                                
024097,002886: 
024098,002887: 25,3247           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024099,002888: 25,3250           03442                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
024100,002889:                                                                                                  #  INDEPENDENT OF DATA GOOD.
024101,002890: 
024102,002891: 25,3251           11111                           CCS      NSAMP                                 
024103,002892: 25,3252           03262                           TC       NOEND                                 
024104,002893: 25,3253           44753        GOODRAD            CS       ONE                                   
024105,002894: 25,3254           55100                           TS       SAMPLIM                               
024106,002895: 25,3255           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024107,002896: 25,3256           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
024108,002897: 25,3257           54110                           TS       RADMODES                              
024109,002898: 25,3260           03616                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
024110,002899: 25,3261           03553                           TC       RGOODEND   -2                         
024111,002900: 
024112,002901: 25,3262           55111        NOEND              TS       NSAMP                                 
024113,002902: 25,3263           11100        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
024114,002903: 25,3264           13266                           TCF      +2                                    
024115,002904: 25,3265           13461                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
024116,002905: 25,3266           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
024117,002906: 25,3267           00006                           EXTEND                                         

Page 557

024119,002908: 25,3270           05013                           WOR      CHAN13                                #  RESET ACTIVITY BIT
024120,002909: 25,3271           05270                           TC       RESUME                                
024121,002910: 
024122,002911: 
024123,002912: 25,3272           34747        LRHEIGHT           CAF      BIT5                                  
024124,002913: 25,3273           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024125,002914: 
024126,002915: 25,3274           34743                           CAF      BIT9                                  
024127,002916: 25,3275           03320                           TC       SCALECHK   -1                         
024128,002917: 
024129,002918: 25,3276           34741        RENDRAD            CAF      REPOSBIT                              #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
024130,002919: 25,3277           70110                           MASK     RADMODES                              #  LIMITS.
024131,002920: 25,3300           10000                           CCS      A                                     
024132,002921: 25,3301           13206                           TCF      BADRAD                                
024133,002922: 
024134,002923: 25,3302           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
024135,002924: 25,3303           74745                           MASK     RCDUFBIT                              
024136,002925: 25,3304           10000                           CCS      A                                     
024137,002926: 25,3305           13206                           TCF      BADRAD                                
024138,002927: 
024139,002928: 25,3306           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
024140,002929: 25,3307           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024141,002930: 
024142,002931: 25,3310           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
024143,002932: 25,3311           00006                           EXTEND                                         
024144,002933: 25,3312           02013                           RAND     CHAN13                                
024145,002934: 25,3313           54002                           TS       Q                                     #  FOR LATER TESTING.
024146,002935: 25,3314           10000                           CCS      A                                     
024147,002936: 25,3315           13317                           TCF      +2                                    
024148,002937: 25,3316           13331                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
024149,002938: 25,3317           34751                           CAF      BIT3                                  
024150,002939: 25,3320           54001                           TS       L                                     
024151,002940: 
024152,002941: 25,3321           00006        SCALECHK           EXTEND                                         
024153,002942: 25,3322           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
024154,002943: 25,3323           56001                           XCH      L                                     
024155,002944: 25,3324           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
024156,002945: 25,3325           00006                           EXTEND                                         
024157,002946: 25,3326           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
024158,002947: 25,3327           10000                           CCS      A                                     
024159,002948: 25,3330           03350                           TC       SCALCHNG                              #  THEY DIFFER
024160,002949: 
024161,002950: 25,3331           34733        RADIN              CAF      POSMAX                                
024162,002951: 25,3332           70046                           MASK     RNRAD                                 
024163,002952: 25,3333           54064                           TS       ITEMP4                                
024164,002953: 
024165,002954: 25,3334           30046                           CAE      RNRAD                                 
024166,002955: 25,3335           60000                           DOUBLE                                         
024167,002956: 25,3336           74753                           MASK     BIT1                                  
024168,002957: 25,3337           54063                           TS       ITEMP3                                

Page 558

024170,002959: 25,3340           10002                           CCS      Q                                     #  SEE IF RR RDOT.
024171,002960: 25,3341           13402                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
024172,002961: 
024173,002962: 25,3342           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
024174,002963: 25,3343           42002                           DCS      RDOTBIAS                              
024175,002964: 25,3344           20064        DASAMPL            DAS      ITEMP3                                
024176,002965: 25,3345           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
024177,002966: 25,3346           03443                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
024178,002967: 25,3347           03253                           TC       GOODRAD                               
024179,002968: 
024180,002969: 25,3350           22110        SCALCHNG           LXCH     RADMODES                              
024181,002970: 25,3351           64753                           AD       BIT1                                  
024182,002971: 25,3352           00006                           EXTEND                                         
024183,002972: 25,3353           06001                           RXOR     LCHAN                                 
024184,002973: 25,3354           54110                           TS       RADMODES                              
024185,002974: 25,3355           33147                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
024186,002975: 25,3356           00006                           EXTEND                                         
024187,002976: 25,3357           02033                           RAND     CHAN33                                
024188,002977: 25,3360           55113                           TS       OLDATAGD                              
024189,002978: 25,3361           05504                           TC       UPFLAG                                #  SET RNGSCFLG
024190,002979: 25,3362           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
024191,002980: 25,3363           13206                           TCF      BADRAD                                
024192,002981: 
024193,002982:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024194,002983: 
024195,002984: 25,3364           40101        R77CHECK           CS       FLAGWRD5                              
024196,002985: 25,3365           74741                           MASK     R77FLBIT                              
024197,002986: 25,3366           10000                           CCS      A                                     
024198,002987: 25,3367           00002                           TC       Q                                     #  NOT R77
024199,002988: 25,3370           43401                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
024200,002989: 25,3371           70110                           MASK     RADMODES                              
024201,002990: 25,3372           54001                           TS       L                                     
024202,002991: 25,3373           33401                           CA       BITS5,8                               
024203,002992: 25,3374           00006                           EXTEND                                         
024204,002993: 25,3375           02033                           RAND     CHAN33                                
024205,002994: 25,3376           60001                           AD       L                                     
024206,002995: 25,3377           54110                           TS       RADMODES                              
024207,002996: 25,3400           03553                           TC       RGOODEND   -2                         
024208,002997: 25,3401           00220        BITS5,8            OCT      220                                   
024209,002998: 

Page 559

024211,003000:                                                                                                  #  THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024212,003001: 
024213,003002: 25,3402           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
024214,003003: 25,3403           13405                           TCF      +2                                    #  ON HIGH SCALE.
024215,003004: 25,3404           13345                           TCF      DGCHECK2                              
024216,003005: 
024217,003006: 25,3405           31335                           CA       DNINDEX                               
024218,003007: 25,3406           74751                           MASK     BIT3                                  
024219,003008: 25,3407           10000                           CCS      A                                     
024220,003009: 25,3410           13417                           TCF      LRSCK                                 
024221,003010: 
024222,003011: 25,3411           52064                           DXCH     ITEMP3                                
024223,003012: 25,3412           20001                           DDOUBL                                         
024224,003013: 25,3413           20001                           DDOUBL                                         
024225,003014: 25,3414           20001                           DDOUBL                                         
024226,003015: 25,3415           52064                           DXCH     ITEMP3                                
024227,003016: 
024228,003017: 25,3416           13345                           TCF      DGCHECK2                              
024229,003018: 
024230,003019: 25,3417           10063        LRSCK              CCS      ITEMP3                                
024231,003020: 25,3420           13431                           TCF      +11                                   
024232,003021: 25,3421           40064                           CS       ITEMP4                                
024233,003022: 25,3422           63441                           AD       HISCALIM                              
024234,003023: 25,3423           00006                           EXTEND                                         
024235,003024: 25,3424           63431                           BZMF     +5                                    
024236,003025: 
024237,003026: 25,3425           40107                           CS       FLGWRD11                              
024238,003027: 25,3426           74751                           MASK     SCABBIT                               
024239,003028: 25,3427           26107                           ADS      FLGWRD11                              
024240,003029: 25,3430           13434                           TCF      +4                                    
024241,003030: 
024242,003031: 25,3431           44751                           CS       SCABBIT                               
024243,003032: 25,3432           70107                           MASK     FLGWRD11                              
024244,003033: 25,3433           54107                           TS       FLGWRD11                              
024245,003034: 
024246,003035: 25,3434           00006                           EXTEND                                         
024247,003036: 25,3435           30064                           DCA      ITEMP3                                
024248,003037: 25,3436           20001                           DDOUBL                                         
024249,003038: 25,3437           20001                           DDOUBL                                         
024250,003039: 25,3440           13344                           TCF      DASAMPL                               
024251,003040: 
024252,003041: 25,3441           00714        HISCALIM           DEC      460        B-14                       #  2481.7 FT *****************************

Page 560

024254,003043: 25,3442           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
024255,003044: 25,3443           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
024256,003045: 25,3444           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING.  IF
024257,003046: 25,3445           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN.  IF
024258,003047: 25,3446           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
024259,003048: 25,3447           71113                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
024260,003049: 25,3450           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024261,003050: 25,3451           57113                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
024262,003051: 25,3452           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
024263,003052: 25,3453           60001                           AD       L                                     
024264,003053: 25,3454           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
024265,003054: 25,3455           03263                           TC       RESAMPLE                              
024266,003055: 25,3456           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
024267,003056: 25,3457           21102                           DAS      SAMPLSUM                              #  ACCUMULATION.
024268,003057: 25,3460           00002                           TC       Q                                     
024269,003058: 
024270,003059: 25,3461           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
024271,003060: 25,3462           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
024272,003061: 25,3463           60061                           AD       ITEMP1                                
024273,003062: 25,3464           54110                           TS       RADMODES                              
024274,003063: 
024275,003064: 25,3465           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
024276,003065: 25,3466           53102                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.
024277,003066: 25,3467           03616                           TC       RADLITES                              
024278,003067: 25,3470           13174                           TCF      NOMORE                                

Page 561

024280,003069:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024281,003070: 
024282,003071: 25,2000                                           SETLOC   P20S1                                 
024283,003072: 25,2000                                           BANK                                           
024284,003073: 
024285,003074: 25,3471                                           COUNT*   $$/RSUB                               
024286,003075: 25,3471           00004        LRPOS2             INHINT                                         
024287,003076: 
024288,003077: 25,3472           40110                           CS       RADMODES                              
024289,003078: 25,3473           74746                           MASK     LRPOSBIT                              #  SHOW DESIRED LR POSITION IS 2
024290,003079: 25,3474           26110                           ADS      RADMODES                              
024291,003080: 
024292,003081: 25,3475           34745                           CAF      BIT7                                  
024293,003082: 25,3476           00006                           EXTEND                                         
024294,003083: 25,3477           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
024295,003084: 25,3500           00006                           EXTEND                                         
024296,003085: 25,3501           13530                           BZF      RADNOOP                               
024297,003086: 
024298,003087: 25,3502           34737                           CAF      BIT13                                 
024299,003088: 25,3503           00006                           EXTEND                                         
024300,003089: 25,3504           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
024301,003090: 25,3505           33545                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
024302,003091: 25,3506           05203                           TC       WAITLIST                              
024303,003092: 25,3507  E7,1456                                  EBANK=   LOSCOUNT                              
024304,003093: 25,3507           03543 52067                     2CADR    LRPOSCAN                              
024305,003094: 
024306,003095: 25,3511           02366                           TC       ROADBACK                              
024307,003096: 
024308,003097: 25,3512           55100        LRPOSNXT           TS       SAMPLIM                               
024309,003098: 25,3513           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024310,003099: 25,3514           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
024311,003100: 
024312,003101: 25,3515           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
024313,003102: 25,3516           00006                           EXTEND                                         
024314,003103: 25,3517           02033                           RAND     CHAN33                                
024315,003104: 25,3520           00006                           EXTEND                                         
024316,003105: 25,3521           13535                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024317,003106: 
024318,003107: 25,3522           11100                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
024319,003108: 25,3523           13512                           TCF      LRPOSNXT                              
024320,003109: 
024321,003110: 25,3524           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
024322,003111: 25,3525           00006                           EXTEND                                         
024323,003112: 25,3526           03012                           WAND     CHAN12                                
024324,003113: 25,3527           13562                           TCF      RDBADEND                              
024325,003114: 
024326,003115: 25,3530           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
024327,003116: 25,3531           05203                           TC       WAITLIST                              
024328,003117: 25,3532  E7,1456                                  EBANK=   LOSCOUNT                              
024329,003118: 25,3532           03555 52067                     2CADR    RGOODEND                              

Page 562

024331,003120: 25,3534           02366                           TC       ROADBACK                              
024332,003121: 
024333,003122: 25,3535           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024334,003123: 25,3536           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024335,003124: 
024336,003125: 25,3537           44737                           CS       BIT13                                 #  REMOVE COMMAND
024337,003126: 25,3540           00006                           EXTEND                                         
024338,003127: 25,3541           03012                           WAND     CHAN12                                
024339,003128: 25,3542           13555                           TCF      RGOODEND                              
024340,003129: 
024341,003130: 25,3543           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
024342,003131: 25,3544           13512                           TCF      LRPOSNXT                              
024343,003132: 25,3545           01130        6SECS              DEC      600        B-14                       

Page 563

024345,003134:                                                                                                  #  SEQUENCES TO TERMINATE RR OPERATIONS.
024346,003135: 
024347,003136: 25,3546           34745        ENDRADAR           CAF      RCDUFBIT                              #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
024348,003137: 25,3547           70110                           MASK     RADMODES                              
024349,003138: 25,3550           10000                           CCS      A                                     
024350,003139: 25,3551           13555                           TCF      RGOODEND                              
024351,003140: 25,3552           13562                           TCF      RDBADEND                              
024352,003141: 25,3553           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024353,003142: 25,3554           54734                           TS       RUPTAGN                               
024354,003143: 
024355,003144: 25,3555           34752        RGOODEND           CAF      TWO                                   
024356,003145: 25,3556           04635                           TC       POSTJUMP                              
024357,003146: 25,3557           17665                           CADR     GOODEND                               
024358,003147: 
024359,003148: 25,3560           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
024360,003149: 25,3561           54734                           TS       RUPTAGN                               
024361,003150: 25,3562           34752        RDBADEND           CAF      TWO                                   
024362,003151: 25,3563           04635                           TC       POSTJUMP                              
024363,003152: 25,3564           17662                           CADR     BADEND                                
024364,003153: 
024365,003154: 25,3565     6245               BIN3               EQUALS   THREE                                 
024366,003155: 

Page 564

024368,003157:                                                                                                  #  PROGRAM NAME_  LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024369,003158:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024370,003159: 
024371,003160:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024372,003161:                                                                                                  #        1)      EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024373,003162:                                                                                                  #        2)      COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024374,003163:                                                                                                  #        3)      COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024375,003164: 
024376,003165:                                                                                                  #  CALLING SEQUENCE      CALL
024377,003166:                                                                                                  #                                LPS20.1
024378,003167: 
024379,003168:                                                                                                  #  SUBROUTINES CALLED_
024380,003169:                                                                                                  #        LEMPREC, CSMPREC
024381,003170: 
024382,003171:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER + 2
024383,003172: 
024384,003173:                                                                                                  #  ERROR EXITS_  NONE
024385,003174: 
024386,003175:                                                                                                  #  ALARMS_  NONE
024387,003176: 
024388,003177:                                                                                                  #  OUTPUT_
024389,003178:                                                                                                  #        LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024390,003179:                                                                                                  #        MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024391,003180:                                                                                                  #        RRNBSW CLEARED
024392,003181: 
024393,003182:                                                                                                  #  INITIALIZED ERASEABLE
024394,003183:                                                                                                  #        TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024395,003184:                                                                                                  #        SEE ORBITAL INTEGRATION ROUTINE
024396,003185: 
024397,003186:                                                                                                  #  DEBRIS_
024398,003187:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024399,003188: 
024400,003189: 23,2314                                           BANK     23                                    
024401,003190: 24,2000                                           SETLOC   P20S                                  
024402,003191: 24,2000                                           BANK                                           

Page 565

024404,003193: 24,3255                                           COUNT*   $$/LPS20                              
024405,003194: 
024406,003195: 24,3255           43020        LPS20.1            STQ      BOFF                                  
024407,003196: 24,3256           01757                                    LS21X                                 
024408,003197: 24,3257           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
024409,003198: 24,3260           51264                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
024410,003199: 24,3261           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
024411,003200: 24,3262           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
024412,003201: 24,3263           51274                                    CSMINT                                
024413,003202: 24,3264           77624        LMINT              CALL                                           
024414,003203: 24,3265           27100                                    LEMCONIC                              #  EXTRAPOLATE LEM
024415,003204: 24,3266           77775                           VLOAD                                          
024416,003205: 24,3267           00001                                    RATT                                  
024417,003206: 24,3270           26352                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
024418,003207: 24,3271           00007                                    VATT                                  
024419,003208: 24,3272           16360                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
024420,003209: 24,3273           00015                                    TAT                                   
024421,003210: 24,3274           34041        CSMINT             STCALL   TDEC1                                 
024422,003211: 24,3275           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM
024423,003212: 24,3276           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024424,003213: 24,3277           00007                                    VATT                                  
024425,003214: 24,3300           02360                                    LMVEL                                 
024426,003215: 24,3301           76521                           MXV      VSL1                                  
024427,003216: 24,3302           01734                                    REFSMMAT                              
024428,003217: 24,3303           77776                           EXIT                                           
024429,003218: 24,3304           06027                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
024430,003219: 24,3305           52602                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
024431,003220: 24,3306           06037                           TC       INTPRET                               
024432,003221: 24,3307           25761                           STOVL    LOSVEL                                
024433,003222: 24,3310           00001                                    RATT                                  
024434,003223: 24,3311           43051                           VSU      BOFF                                  
024435,003224: 24,3312           02352                                    LMPOS                                 
024436,003225: 24,3313           00350                                    RNDVZFLG                              
024437,003226: 24,3314           51321                                    NOTSHIFT                              
024438,003227: 24,3315           77604                           BOVB                                           
024439,003228: 24,3316           57753                                    TCDANZIG                              
024440,003229: 24,3317           77661                           VSL                                            
024441,003230: 24,3320           20212                                    9D                                    
024442,003231: 24,3321           41056        NOTSHIFT           UNIT     BOVB                                  #  IF OVERFLOW, RANGE MUST BE GREATER
024443,003232: 24,3322           50102                                    526ALARM                              #  THAN 400 N. M.
024444,003233: 24,3323           76521                           MXV      VSL1                                  
024445,003234: 24,3324           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
024446,003235: 24,3325           15102                           STODL    RRTARGET                              
024447,003236: 24,3326           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
024448,003237: 24,3327           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
024449,003238: 24,3330           77614                           CLRGO                                          
024450,003239: 24,3331           00231                                    RRNBSW                                
024451,003240: 24,3332           01757                                    LS21X                                 
024452,003241: 

Page 566

024454,003243:                                                                                                  #  PROGRAM NAME_  LPS20.2  400 NM RANGE CHECK
024455,003244:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024456,003245: 
024457,003246:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024458,003247:                                                                                                  #        COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024459,003248: 
024460,003249:                                                                                                  #  CALLING SEQUENCE      CALL
024461,003250:                                                                                                  #                                LPS20.2
024462,003251: 
024463,003252:                                                                                                  #  SUBROUTINES CALLED_  NONE
024464,003253: 
024465,003254:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024466,003255: 
024467,003256:                                                                                                  #  ERROR EXITS_  RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024468,003257: 
024469,003258:                                                                                                  #  ALARMS_  NONE
024470,003259: 
024471,003260:                                                                                                  #  OUTPUT_  NONE
024472,003261: 
024473,003262:                                                                                                  #  INITIALIZED ERASEABLE_
024474,003263:                                                                                                  #        PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024475,003264: 
024476,003265:                                                                                                  #  DEBRIS
024477,003266:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024478,003267: 
024479,003268: 25,2000                                           SETLOC   P20S1                                 
024480,003269: 25,2000                                           BANK                                           
024481,003270: 25,3565                                           COUNT*   $$/LPS20                              
024482,003271: 
024483,003272: 25,3565           45345        LPS20.2            DLOAD    DSU                                   
024484,003273: 25,3566           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
024485,003274: 25,3567           13600                                    FHNM                                  #  OVER 400NM  _
024486,003275: 25,3570           77644                           BPL                                            
024487,003276: 25,3571           53574                                    TOFAR                                 
024488,003277: 25,3572           43535                           SLOAD    RVQ                                   
024489,003278: 25,3573           06522                                    ZERO/SP                               
024490,003279: 25,3574           43535        TOFAR              SLOAD    RVQ                                   
024491,003280: 25,3575           13577                                    ONE/SP                                
024492,003281: 25,3576           00001        ONE/SP             DEC      1          B-14                       

Page 567

024494,003283: 25,3577           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
024495,003284: 

Page 568

024497,003286:                                                                                                  #  PROGRAM NAME:  LRS22.1 (DATA READ SUBROUTINE 1)
024498,003287:                                                                                                  #  MOD. NO.: 1           BY: P. VOLANTE  SDC             DATE:  11-15-66
024499,003288: 
024500,003289:                                                                                                  #  FUNCTIONAL DESCRIPTION
024501,003290:                                                                                                  #        1)      READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME.  CONVERTS THIS
024502,003291:                                                                                                  #                DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3).  CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024503,003292:                                                                                                  #                RR REPOSITION AND RR CDU FAIL
024504,003293:                                                                                                  #        2)      COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024505,003294: 
024506,003295:                                                                                                  #  CALLING SEQUENCE:  BANKCALL FOR LRS22.1
024507,003296: 
024508,003297:                                                                                                  #  SUBROUTINES CALLED:
024509,003298:                                                                                                  #        RRRDOT          LPS20.1
024510,003299:                                                                                                  #        RRRANGE         BANKCALL
024511,003300:                                                                                                  #        RADSTALL        CDULOGIC
024512,003301:                                                                                                  #        RRNB            SMNB
024513,003302: 
024514,003303:                                                                                                  #  NORMAL EXIT:  RETURN TO CALLER+1 WITH MPAC SET TO +0
024515,003304: 
024516,003305:                                                                                                  #  ERROR EXITS:  RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024517,003306:                                                                                                  #        00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024518,003307:                                                                                                  #        00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024519,003308: 
024520,003309:                                                                                                  #  ALARMS:  521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024521,003310:                                                                                                  #        (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024522,003311: 
024523,003312:                                                                                                  #  OUTPUT:  RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024524,003313:                                                                                                  #        RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024525,003314: 
024526,003315:                                                                                                  #        ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024527,003316:                                                                                                  #                RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024528,003317:                                                                                                  #                RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024529,003318:                                                                                                  #                RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024530,003319:                                                                                                  #                AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024531,003320:                                                                                                  #                MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024532,003321: 
024533,003322:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024534,003323:                                                                                                  #        RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:

Page 569

024536,003325:                                                                                                  #                1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024537,003326:                                                                                                  #                2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024538,003327:                                                                                                  #        THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024539,003328: 
024540,003329:                                                                                                  #  DEBRIS:  LRS22.1X, A, L, Q, PUSHLIST
024541,003330: 
024542,003331: 32,2366                                           BANK     32                                    
024543,003332: 32,2000                                           SETLOC   LRS22                                 
024544,003333: 32,2000                                           BANK                                           
024545,003334: 32,2366                                           COUNT*   $$/LRS22                              
024546,003335: 
024547,003336: 32,2366           04645        LRS22.1            TC       MAKECADR                              
024548,003337: 32,2367           55737                           TS       LRS22.1X                              
024549,003338: 32,2370           05516                           TC       DOWNFLAG                              
024550,003339: 32,2371           00120                           ADRES    RNGSCFLG                              
024551,003340: 32,2372           00004                           INHINT                                         
024552,003341: 32,2373           34751                           CAF      BIT3                                  
024553,003342: 32,2374           00006                           EXTEND                                         #  GET RR RANGE SCALE
024554,003343: 32,2375           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
024555,003344: 32,2376           54001                           TS       L                                     
024556,003345: 32,2377           44751                           CS       RRRSBIT                               
024557,003346: 32,2400           70110                           MASK     RADMODES                              
024558,003347: 32,2401           60001                           AD       L                                     
024559,003348: 32,2402           54110                           TS       RADMODES                              
024560,003349: 32,2403           00003                           RELINT                                         
024561,003350: 32,2404           04616        READRDOT           TC       BANKCALL                              
024562,003351: 32,2405           53103                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
024563,003352: 32,2406           04616                           TC       BANKCALL                              
024564,003353: 32,2407           17714                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
024565,003354: 32,2410           12542                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
024566,003355: 
024567,003356: 32,2411           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
024568,003357: 32,2412           53106                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
024569,003358: 32,2413           52162                           DXCH     MPAC       +5                         #  TEMP BUFFER FOR DOWNLINK
024570,003359: 32,2414           53102                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
024571,003360: 32,2415           53747                           DXCH     RDOTMSAV                              
024572,003361: 32,2416           00006                           EXTEND                                         
024573,003362: 32,2417           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
024574,003363: 32,2420           52160                           DXCH     MPAC       +3                         #  TEMP BUFFER FOR DOWNLINK
024575,003364: 32,2421           30032                           CA       CDUX                                  
024576,003365: 32,2422           54156                           TS       MPAC       +2                         #  TEMP BUFFER FOR DOWNLINK
024577,003366: 32,2423           00006                           EXTEND                                         
024578,003367: 32,2424           30025                           DCA      TIME2                                 #  SAVE TIME
024579,003368: 32,2425           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
024580,003369: 32,2426           00006                           EXTEND                                         
024581,003370: 32,2427           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024582,003371: 32,2430           53110                           DXCH     TANG                                  

Page 570

024584,003373: 32,2431           00003                           RELINT                                         
024585,003374: 32,2432           04616                           TC       BANKCALL                              
024586,003375: 32,2433           53105                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
024587,003376: 32,2434           04616                           TC       BANKCALL                              
024588,003377: 32,2435           17714                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
024589,003378: 32,2436           02536                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
024590,003379: 32,2437           00004                           INHINT                                         #  COPY CYCLE FOR MARK DATA ON DOWNLINK
024591,003380: 32,2440           53334                           DXCH     DNRRANGE                              #  RANGE, RANGE RATE (RAW DATA)
024592,003381: 32,2441           53761                           DXCH     RANGRDOT                              
024593,003382: 32,2442           52162                           DXCH     MPAC       +5                         
024594,003383: 32,2443           53755                           DXCH     MKTIME                                #  MARK TIME
024595,003384: 32,2444           52160                           DXCH     MPAC       +3                         
024596,003385: 32,2445           53460                           DXCH     AIG                                   #  CDUY, CDUZ
024597,003386: 32,2446           00006                           EXTEND                                         
024598,003387: 32,2447           31110                           DCA      TANG                                  #  PRESERVE TANG
024599,003388: 32,2450           53753                           DXCH     TANGNB                                #  TRUNNION AND SHAFT ANGLES
024600,003389: 32,2451           30156                           CA       MPAC       +2                         
024601,003390: 32,2452           55461                           TS       AOG                                   #  CDUX
024602,003391: 32,2453           06037                           TC       INTPRET                               
024603,003392: 32,2454           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
024604,003393: 32,2455           03747                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
024605,003394: 32,2456           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
024606,003395: 32,2457           20217                                    14D                                   #  FT./SECOND PER BIT
024607,003396: 32,2460           24002                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
024608,003397: 32,2461           03751                           STORE    RDOTM                                 
024609,003398: 32,2462           47135                           SLOAD    RTB                                   
024610,003399: 32,2463           01110                                    TANG                                  #  GET TRUNION ANGLE
024611,003400: 32,2464           21576                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
024612,003401: 32,2465           03734                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
024613,003402: 32,2466           47135                           SLOAD    RTB                                   
024614,003403: 32,2467           01111                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
024615,003404: 32,2470           21576                                    CDULOGIC                              
024616,003405: 32,2471           17736                           STODL    RRSHAFT                               
024617,003406: 32,2472           01102                                    SAMPLSUM                              
024618,003407: 32,2473           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
024619,003408: 32,2474           24004                                    RANGCONV                              #  PER BIT, END WITH METERS, SCALED -29
024620,003409: 32,2475           37757                           STCALL   RM                                    
024621,003410: 32,2476           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
024622,003411: 32,2477           17741                           STODL    RRBORSIT                              #  AND SAVE
024623,003412: 32,2500           00025                                    20D                                   
024624,003413: 32,2501           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
024625,003414: 32,2502           51255                                    LPS20.1                               
024626,003415: 32,2503           77776                           EXIT                                           
024627,003416: 32,2504           31457                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
024628,003417: 32,2505           54766                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
024629,003418: 32,2506           31460                           CA       AMG                                   
024630,003419: 32,2507           54770                           TS       CDUSPOT    +2                         
024631,003420: 32,2510           31461                           CA       AOG                                   
024632,003421: 32,2511           54772                           TS       CDUSPOT    +4                         
024633,003422: 32,2512           06037                           TC       INTPRET                               

Page 571

024635,003424: 32,2513           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
024636,003425: 32,2514           01102                                    RRTARGET                              
024637,003426: 32,2515           47651                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
024638,003427: 32,2516           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
024639,003428: 32,2517           03741                                    RRBORSIT                              
024640,003429: 32,2520           65552                           SL1      ACOS                                  #  BETWEEN THEM
024641,003430: 32,2521           01046                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
024642,003431: 32,2522           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
024643,003432: 32,2523           24546                                    THREEDEG                              
024644,003433: 32,2524           64531                                    NORMEXIT                              #  YES - NORMAL EXIT
024645,003434: 
024646,003435: 32,2525           77776                           EXIT                                           #  ERROR EXIT 2
024647,003436: 32,2526           34752                           CAF      BIT2                                  #  SET ERROR CODE
024648,003437: 32,2527           54154                           TS       MPAC                                  
024649,003438: 32,2530           12534                           TCF      OUT22.1                               
024650,003439: 
024651,003440: 32,2531           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT - SET MPAC EQUAL ZERO
024652,003441: 32,2532           34755                           CAF      ZERO                                  
024653,003442: 32,2533           54154                           TS       MPAC                                  
024654,003443: 32,2534           31737        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
024655,003444: 32,2535           04640                           TC       BANKJUMP                              
024656,003445: 32,2536           30101        CHEXERR            CAE      FLAGWRD5                              
024657,003446: 32,2537           74742                           MASK     RNGSCBIT                              
024658,003447: 32,2540           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
024659,003448: 32,2541           12404                           TCF      READRDOT                              #  YES - TAKE ANOTHER READING
024660,003449: 
024661,003450: 32,2542           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
024662,003451: 32,2543           54154                           TS       MPAC                                  
024663,003452: 32,2544           02534                           TC       OUT22.1                               
024664,003453: 32,2545           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES, SCALED REVS, B0
024665,003454: 
024666,003455: 32,2547     1101               RRLOSVEC           EQUALS   RRTARGET                              
024667,003456: 

Page 572

024669,003458:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024670,003459:                                                                                                  #  MOD. NO.: 1           BY: P VOLANTE  SDC              DATE   4-11-67
024671,003460: 
024672,003461:                                                                                                  #  FUNCTIONAL DESCRIPTION-

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

024674,003463:                                                                                                  #        2)  CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024675,003464: 
024676,003465:                                                                                                  #  CALLING SEQUENCE-  BANKCALL FOR LRS22.2
024677,003466: 
024678,003467:                                                                                                  #  SUBROUTINES CALLED:  G+N, AUTO   SETMAXDB
024679,003468: 
024680,003469:                                                                                                  #  NORMAL EXIT-  RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024681,003470: 
024682,003471:                                                                                                  #  ERROR EXIT-  RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024683,003472: 
024684,003473:                                                                                                  #  ALARMS-  NONE                                                             IN THE AUTO MODE
024685,003474: 
024686,003475:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
024687,003476:                                                                                                  #        RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024688,003477:                                                                                                  #        RM - RR RANGE, METERS B-29, FROM LRS22.1
024689,003478:                                                                                                  #        BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024690,003479: 
024691,003480:                                                                                                  #  DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024692,003481: 
024693,003482: 24,2000                                           SETLOC   P20S                                  
024694,003483: 24,2000                                           BANK                                           
024695,003484: 24,3333           04645        LRS22.2            TC       MAKECADR                              
024696,003485: 24,3334           55737                           TS       LRS22.1X                              
024697,003486: 24,3335           06037                           TC       INTPRET                               
024698,003487:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF 
024699,003488: 24,3336           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
024700,003489: 24,3337           03745                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
024701,003490:                                                                                                  #  LOS VECTOR, A HALF UNIT VECTOR
024702,003491:                                                                                                  #  IN NAV BASE AXES)
024703,003492: 24,3340           50025                           DSU      BMN                                   
024704,003493: 24,3341           11355                                    30DEG                                 
024705,003494: 24,3342           51347                                    OKEXIT                                #  NORMAL EXIT - WITHIN 30 DEG.
024706,003495: 24,3343           77776                           EXIT                                           #  ERROR EXIT - NOT WITHIN 30 DEG.
024707,003496: 24,3344           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
024708,003497: 24,3345           54154                           TS       MPAC                                  
024709,003498: 24,3346           13352                           TCF      OUT22.2                               
024710,003499: 24,3347           77776        OKEXIT             EXIT                                           #  NORMAL EXIT - SET MPAC = ZERO
024711,003500: 

Page 573

024713,003502: 24,3350           34755                           CAF      ZERO                                  
024714,003503: 24,3351           54154                           TS       MPAC                                  
024715,003504: 24,3352           31737        OUT22.2            CAE      LRS22.1X                              
024716,003505: 24,3353           04640                           TC       BANKJUMP                              
024717,003506: 
024718,003507: 24,3354           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES, SCALED REVS, B0
024719,003508: 

Page 574

024721,003510:                                                                                                  #  PROGRAM NAME - LSR22.3                                DATE - 29 MAY 1967
024722,003511:                                                                                                  #  MOD. NO 3                                             LOG SECTION - P20-25
024723,003512:                                                                                                  #  MOD. BY - DANFORTH                                    ASSEMBLY LEMP20S REV 10
024724,003513: 
024725,003514:                                                                                                  #  FUNCTIONAL DESCRIPTION
024726,003515:                                                                                                  #        THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024727,003516:                                                                                                  #        RADAR.  (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES).  THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024728,003517:                                                                                                  #        WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024729,003518: 
024730,003519:                                                                                                  #  CALLING SEQUENCE
024731,003520:                                                                                                  #        THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY.  THE ROUTINE IS ENTERED FROM
024732,003521:                                                                                                  #        R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA.  IF THE
024733,003522:                                                                                                  #        COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED.  THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024734,003523:                                                                                                  #        THE DEVIATIONS.  IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024735,003524:                                                                                                  #        DEVIATIONS INTO THE STATE VECTOR.  IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024736,003525:                                                                                                  #        PROCESSED FOR THIS MARK, I.E.,  R22LEM GETS THE NEXT MARK.
024737,003526: 
024738,003527:                                                                                                  #  SUBROUTINES CALLED
024739,003528:                                                                                                  #        WLINIT          LGCUPDTE        INTEGRV         INCORP1         ARCTAN
024740,003529:                                                                                                  #        GETULC          RARARANG        INCORP2         NBSM            INTSTALL
024741,003530: 
024742,003531:                                                                                                  #  OUTPUT
024743,003532:                                                                                                  #        CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024744,003533:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR
024745,003534:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024746,003535:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024747,003536:                                                                                                  #        UPDATED W-MATRIX
024748,003537: 
024749,003538:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
024750,003539:                                                                                                  #        LM AND CSM STATE VECTORS
024751,003540:                                                                                                  #        W-MATRIX
024752,003541:                                                                                                  #        MARK TIME IN MKTIME
024753,003542:                                                                                                  #        RADAR RANGE IN RM METERS B-29
024754,003543:                                                                                                  #                RANGE RATE IN RDOTM METERS/CSES B-7
024755,003544:                                                                                                  #                SHAFT ANGLE IN RRSHAFT REVS. B0
024756,003545:                                                                                                  #                TRUNNION ANGLE IN RRTRUN REVS. B0
024757,003546:                                                                                                  #        GIMBAL ANGLES   INNER IN AIG
024758,003547:                                                                                                  #                        MIDDLE IN AMG
024759,003548:                                                                                                  #                        OUTER IN AOG
024760,003549:                                                                                                  #        REFSMMAT
024761,003550:                                                                                                  #        RENDWFLG
024762,003551:                                                                                                  #        NOANGFLG
024763,003552:                                                                                                  #        VEHUPFLG
024764,003553: 
024765,003554:                                                                                                  #  DEBRIS
024766,003555:                                                                                                  #        PUSHLIST -- ALL
024767,003556:                                                                                                  #        MX, MY, MZ (VECTORS)

Page 575

024769,003558:                                                                                                  #        ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024770,003559: 
024771,003560: 13,2207                                           BANK     13                                    
024772,003561: 26,2000                                           SETLOC   P20S3                                 
024773,003562: 26,2000                                           BANK                                           
024774,003563: 
024775,003564: 26,2412  E7,1456                                  EBANK=   LOSCOUNT                              
024776,003565: 26,2412                                           COUNT*   $$/LSR22                              
024777,003566: 26,2412           77624        LSR22.3            CALL                                           
024778,003567: 26,2413           11244                                    GRP2PC                                
024779,003568: 26,2414           43014                           BON      SET                                   
024780,003569: 26,2415           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
024781,003570: 26,2416           55200                                    LSR22.4                               #  YES
024782,003571: 26,2417           02466                                    DMENFLG                               
024783,003572: 26,2420           45014                           BOFF     CALL                                  
024784,003573: 26,2421           00747                                    VEHUPFLG                              
024785,003574: 26,2422           54454                                    DOLEM                                 
024786,003575: 26,2423           27414                                    INTSTALL                              
024787,003576: 26,2424           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
024788,003577: 26,2425           01674                                    VINTFLAG                              
024789,003578: 26,2426           26644                                    SETIFLGS                              
024790,003579: 26,2427           77624                           CALL                                           
024791,003580: 26,2430           55242                                    INTGRCAL                              
024792,003581: 26,2431           77624                           CALL                                           
024793,003582: 26,2432           11244                                    GRP2PC                                
024794,003583: 26,2433           77624                           CALL                                           
024795,003584: 26,2434           27414                                    INTSTALL                              
024796,003585: 26,2435           43014                           CLEAR    BOFF                                  
024797,003586: 26,2436           01676                                    DIM0FLAG                              
024798,003587: 26,2437           02756                                    RENDWFLG                              
024799,003588: 26,2440           54444                                    NOTWCSM                               
024800,003589: 26,2441           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
024801,003590: 26,2442           01476                                    DIM0FLAG                              
024802,003591: 26,2443           01475                                    D6OR9FLG                              
024803,003592: 26,2444           43014        NOTWCSM            SET      CLEAR                                 
024804,003593: 26,2445           01474                                    VINTFLAG                              
024805,003594: 26,2446           01673                                    INTYPFLG                              
024806,003595: 26,2447           45014                           SET      CALL                                  
024807,003596: 26,2450           01472                                    STATEFLG                              
024808,003597: 26,2451           55242                                    INTGRCAL                              
024809,003598: 26,2452           77650                           GOTO                                           
024810,003599: 26,2453           54504                                    MARKTEST                              
024811,003600: 26,2454           77624        DOLEM              CALL                                           
024812,003601: 26,2455           27414                                    INTSTALL                              
024813,003602: 26,2456           45014                           SET      CALL                                  
024814,003603: 26,2457           01474                                    VINTFLAG                              
024815,003604: 26,2460           26644                                    SETIFLGS                              
024816,003605: 26,2461           77624                           CALL                                           
024817,003606: 26,2462           55242                                    INTGRCAL                              

Page 576

024819,003608: 26,2463           77624                           CALL                                           
024820,003609: 26,2464           11244                                    GRP2PC                                
024821,003610: 26,2465           77624                           CALL                                           
024822,003611: 26,2466           27414                                    INTSTALL                              
024823,003612: 26,2467           43014                           CLEAR    BOFF                                  
024824,003613: 26,2470           01676                                    DIM0FLAG                              
024825,003614: 26,2471           02756                                    RENDWFLG                              
024826,003615: 26,2472           54476                                    NOTWLEM                               
024827,003616: 26,2473           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
024828,003617: 26,2474           01476                                    DIM0FLAG                              
024829,003618: 26,2475           01475                                    D6OR9FLG                              
024830,003619: 26,2476           43014        NOTWLEM            CLEAR    CLEAR                                 
024831,003620: 26,2477           01673                                    INTYPFLG                              
024832,003621: 26,2500           01674                                    VINTFLAG                              
024833,003622: 26,2501           45014                           SET      CALL                                  
024834,003623: 26,2502           01472                                    STATEFLG                              
024835,003624: 26,2503           55242                                    INTGRCAL                              
024836,003625: 26,2504           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
024837,003626: 26,2505           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
024838,003627: 26,2506           54510                                    RANGEBQ                               
024839,003628: 26,2507           55251                                    WLINIT                                #  YES - REINITIALIZE
024840,003629: 26,2510           77414        RANGEBQ            BON      EXIT                                  #  DON'T CALL R65 IF ON SURFACE
024841,003630: 26,2511           04307                                    SURFFLAG                              
024842,003631: 26,2512           54520                                    RANGEBQ1                              
024843,003632: 26,2513           34755                           CA       ZERO                                  
024844,003633: 26,2514           55745                           TS       R65CNTR                               
024845,003634: 26,2515           04616                           TC       BANKCALL                              
024846,003635: 26,2516           46123                           CADR     R65LEM                                
024847,003636: 26,2517           06037                           TC       INTPRET                               
024848,003637: 26,2520           43174        RANGEBQ1           AXT,2    BON                                   #  CLEAR X2
024849,003638: 26,2521           00000                                    0                                     
024850,003639: 26,2522           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
024851,003640: 26,2523           54526                                    SETX2                                 #  YES.  STORE ZERO IN SCALSHFT REGISTER
024852,003641: 26,2524           77714                           INCR,2                                         
024853,003642: 26,2525           00002                                    2                                     
024854,003643: 26,2526           45134        SETX2              SXA,2    CALL                                  
024855,003644: 26,2527           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
024856,003645: 26,2530           11244                                    GRP2PC                                
024857,003646: 26,2531           66170                           AXT,1    SXA,1                                 #  STORE RANGE CODE (1) FOR R3 IN NOUN 49
024858,003647: 26,2532           00001                                    1                                     
024859,003648: 26,2533           03745                                    WHCHREAD                              
024860,003649: 26,2534           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
024861,003650: 26,2535           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION (B-40)
024862,003651: 26,2536           20635                                    28D                                   
024863,003652: 26,2537           77634                           RTB                                            
024864,003653: 26,2540           21633                                    TPMODE                                #  AND SAVE IN 20D
024865,003654: 26,2541           00025                           STORE    20D                                   
024866,003655: 26,2542           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS, DELTAQ
024867,003656: 26,2543           55333                                    GETULC                                #  B-VECTORS FOR RANGE
024868,003657: 26,2544           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED

Page 577

024870,003659: 26,2545           00707                                    VEHUPFLG                              
024871,003660: 26,2546           54547                                    +1                                    
024872,003661: 26,2547           27525                           STOVL    BVECTOR                               
024873,003662: 26,2550           06522                                    ZEROVECS                              
024874,003663: 26,2551           03533                           STORE    BVECTOR    +6                         #  B1
024875,003664: 26,2552           17541                           STODL    BVECTOR    +12D                       #  B2
024876,003665: 26,2553           00045                                    36D                                   
024877,003666: 26,2554           44257                           SRR*     BDSU                                  
024878,003667: 26,2555           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
024879,003668: 26,2556           03757                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
024880,003669: 26,2557           77657                           SLR*                                           
024881,003670: 26,2560           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
024882,003671: 26,2561           17547                           STODL    DELTAQ                                #  EARTH B-29.  MOON B-27
024883,003672: 26,2562           00045                                    36D                                   #  RLC B-29/B-27
024884,003673: 26,2563           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
024885,003674: 26,2564           00047                                    X1                                    
024886,003675: 26,2565           53605                           DMP      SR*                                   
024887,003676: 26,2566           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR (B12) THEN
024888,003677: 26,2567           20577                                    0          -2,1                       #  UNNORMALIZE
024889,003678: 26,2570           53657                           SR*      SR*                                   
024890,003679: 26,2571           20601                                    0,1                                   
024891,003680: 26,2572           57176                                    0,2                                   
024892,003681: 26,2573           47057                           SR*      RTB                                   
024893,003682: 26,2574           57176                                    0,2                                   
024894,003683: 26,2575           21633                                    TPMODE                                
024895,003684: 26,2576           02707                           STORE    VARIANCE                              #  B-40
024896,003685: 26,2577           76276                           DCOMP    TAD                                   
024897,003686: 26,2600           00025                                    20D                                   #  B-40
024898,003687: 26,2601           72240                           BMN      TLOAD                                 
024899,003688: 26,2602           54605                                    QOK                                   
024900,003689: 26,2603           00025                                    20D                                   #  B-40
024901,003690: 26,2604           02707                           STORE    VARIANCE                              
024902,003691: 26,2605           77624        QOK                CALL                                           
024903,003692: 26,2606           55401                                    LGCUPDTE                              
024904,003693: 
024905,003694: 26,2607           45131                           SSP      CALL                                  
024906,003695: 26,2610           03746                                    WHCHREAD                              
024907,003696: 26,2611           00002                           DEC      2          B-14                       #  STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024908,003697: 26,2612           11244                                    GRP2PC                                
024909,003698: 26,2613           77624                           CALL                                           #  B-VECTOR, DELTAQ FOR RANGE RATE
024910,003699: 26,2614           55333                                    GETULC                                
024911,003700: 26,2615           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
024912,003701: 26,2616           00045                                    36D                                   #  AND SHIFT TO B-23
024913,003702: 26,2617           57202                                    0          -4,2                       
024914,003703: 26,2620           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
024915,003704: 26,2621           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
024916,003705: 26,2622           00707                                    VEHUPFLG                              
024917,003706: 26,2623           54624                                    +1                                    
024918,003707: 26,2624           77761                           VXSC                                           
024919,003708: 26,2625           00045                                    36D                                   #  B1 = RLC (B-24/B-22)

Page 578

024921,003710: 26,2626           27533                           STOVL    BVECTOR    +6                         
024922,003711: 26,2627           01653                                    NUVLEM                                
024923,003712: 26,2630           53257                           VSR*     VAD                                   
024924,003713: 26,2631           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024925,003714: 26,2632           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
024926,003715: 26,2633           53715                           PDVL     VSR*                                  #  VL TO PD6
024927,003716: 26,2634           01601                                    NUVCSM                                
024928,003717: 26,2635           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024929,003718: 26,2636           52255                           VAD      VSU                                   
024930,003719: 26,2637           01615                                    VCVCSM                                
024931,003720: 26,2640           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
024932,003721: 26,2641           00001                                    0                                     
024933,003722: 26,2642           00007                                    6                                     
024934,003723: 26,2643           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
024935,003724: 26,2644           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
024936,003725: 26,2645           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
024937,003726: 26,2646           01773                                    RATEVAR                               
024938,003727: 26,2647           02707                           STORE    VARIANCE                              
024939,003728: 26,2650           54335                           SLOAD    SR                                    
024940,003729: 26,2651           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
024941,003730: 26,2652           20621                                    16D                                   #  SHIFT TO DP (B-4)
024942,003731: 26,2653           00031                           STORE    24D                                   #  AND SAVE IN 24D
024943,003732: 26,2654           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
024944,003733: 26,2655           02707                                    VARIANCE                              
024945,003734: 26,2656           54662                                    VOK                                   #  BRANCH - NO
024946,003735: 26,2657           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
024947,003736: 26,2660           00031                                    24D                                   
024948,003737: 26,2661           02707                           STORE    VARIANCE                              
024949,003738: 26,2662           60545        VOK                DLOAD    SR2                                   #  RDOT (PD12) FROM B-8/B-6
024950,003739: 26,2663           53725                           PDDL     SLR*                                  #  TO B-10/B-8
024951,003740: 26,2664           03751                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
024952,003741: 26,2665           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
024953,003742: 26,2666           77625                           DSU                                            
024954,003743: 26,2667           77675                           DMPR                                           
024955,003744: 26,2670           00045                                    36D                                   
024956,003745: 26,2671           27547                           STOVL    DELTAQ                                #  B-33
024957,003746: 26,2672           00001                                    0                                     #  NOW GET B0
024958,003747: 26,2673           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
024959,003748: 26,2674           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
024960,003749: 26,2675           00707                                    VEHUPFLG                              
024961,003750: 26,2676           54677                                    +1                                    
024962,003751: 26,2677           77657                           VSR*                                           
024963,003752: 26,2700           57200                                    0          -2,2                       #  SCALED B-5
024964,003753: 26,2701           27525                           STOVL    BVECTOR                               
024965,003754: 26,2702           06522                                    ZEROVECS                              
024966,003755: 26,2703           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
024967,003756: 26,2704           27541                           STOVL    BVECTOR    +12D                       
024968,003757: 26,2705           03525                                    BVECTOR                               
024969,003758: 26,2706           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
024970,003759: 26,2707           00025                                    20D                                   #  SHIFT COUNT IN 20D

Page 579

024972,003761: 26,2710           51575                           VLOAD    ABVAL                                 
024973,003762: 26,2711           03533                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
024974,003763: 26,2712           71301                           NORM     DLOAD                                 
024975,003764: 26,2713           00027                                    22D                                   #  SHIFT COUNT IN 22D
024976,003765: 26,2714           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
024977,003766: 26,2715           50025                           DSU      BMN                                   #  BRANCH - B0 HAS SMALLER SHIFT COUNT
024978,003767: 26,2716           00025                                    20D                                   
024979,003768: 26,2717           54723                                    VOK1                                  
024980,003769: 26,2720           52150                           LXA,1    GOTO                                  
024981,003770: 26,2721           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
024982,003771: 26,2722           54725                                    VOK2                                  
024983,003772: 26,2723           77750        VOK1               LXA,1                                          
024984,003773: 26,2724           00024                                    20D                                   
024985,003774: 26,2725           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024986,003775: 26,2726           03525                                    BVECTOR                               #  WITH THI SSHIFT COUNT
024987,003776: 26,2727           20201                                    0,1                                   
024988,003777: 26,2730           27525                           STOVL    BVECTOR                               
024989,003778: 26,2731           03533                                    BVECTOR    +6                         
024990,003779: 26,2732           77657                           VSL*                                           
024991,003780: 26,2733           20201                                    0,1                                   
024992,003781: 26,2734           17533                           STODL    BVECTOR    +6                         
024993,003782: 26,2735           03547                                    DELTAQ                                
024994,003783: 26,2736           77657                           SL*                                            
024995,003784: 26,2737           20201                                    0,1                                   
024996,003785: 26,2740           03547                           STORE    DELTAQ                                
024997,003786: 26,2741           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
024998,003787: 26,2742           00045                                    36D                                   
024999,003788: 26,2743           20200                                    0          -1,1                       
025000,003789: 26,2744           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
025001,003790: 26,2745           02707                                    VARIANCE                              
025002,003791: 26,2746           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025003,003792: 26,2747           21633                                    TPMODE                                
025004,003793: 26,2750           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
025005,003794: 26,2751           55401                                    LGCUPDTE                              
025006,003795: 
025007,003796: 26,2752           77624                           CALL                                           
025008,003797: 26,2753           11244                                    GRP2PC                                
025009,003798: 26,2754           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
025010,003799: 26,2755           04307                                    SURFFLAG                              
025011,003800: 26,2756           55176                                    RENDEND                               #  NO
025012,003801: 26,2757  E7,1457                                  EBANK=   AIG                                   
025013,003802: 26,2757           33332        MXMYMZ             CAF      AIGBANK                               
025014,003803: 26,2760           54006                           TS       BBANK                                 
025015,003804: 26,2761           31457                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
025016,003805: 26,2762           54766                           TS       CDUSPOT                               
025017,003806: 26,2763           31460                           CA       AMG                                   
025018,003807: 26,2764           54770                           TS       CDUSPOT    +2                         
025019,003808: 26,2765           31461                           CA       AOG                                   
025020,003809: 26,2766           54772                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025021,003810: 26,2767           06037                           TC       INTPRET                               

Page 580

025023,003812: 26,2770           45175                           VLOAD    CALL                                  
025024,003813: 26,2771           06520                                    UNITX                                 
025025,003814: 26,2772           47664                                    TRG*NBSM                              
025026,003815: 26,2773           76505                           VXM      VSL1                                  
025027,003816: 26,2774           01734                                    REFSMMAT                              
025028,003817: 26,2775           27677                           STOVL    MX                                    
025029,003818: 26,2776           06516                                    UNITY                                 
025030,003819: 26,2777           77624                           CALL                                           
025031,003820: 26,3000           47673                                    *NBSM*                                
025032,003821: 26,3001           76505                           VXM      VSL1                                  
025033,003822: 26,3002           01734                                    REFSMMAT                              
025034,003823: 26,3003           27705                           STOVL    MY                                    
025035,003824: 26,3004           06514                                    UNITZ                                 
025036,003825: 26,3005           77624                           CALL                                           
025037,003826: 26,3006           47673                                    *NBSM*                                
025038,003827: 26,3007           76505                           VXM      VSL1                                  
025039,003828: 26,3010           01734                                    REFSMMAT                              
025040,003829: 26,3011           37713        SHAFTBQ            STCALL   MZ                                    
025041,003830: 26,3012           55361                                    RADARANG                              
025042,003831: 26,3013           45131                           SSP      CALL                                  #  STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025043,003832: 26,3014           03746                                    WHCHREAD                              
025044,003833: 26,3015           00003                           DEC      3          B-14                       
025045,003834: 26,3016           11244                                    GRP2PC                                
025046,003835: 26,3017           50375                           VLOAD    DOT                                   #  COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025047,003836: 26,3020           03724                                    ULC                                   
025048,003837: 26,3021           03677                                    MX                                    
025049,003838: 26,3022           77752                           SL1                                            
025050,003839: 26,3023           24023                           STOVL    SINTH                                 #  18D
025051,003840: 26,3024           03724                                    ULC                                   
025052,003841: 26,3025           72441                           DOT      SL1                                   
025053,003842: 26,3026           03713                                    MZ                                    
025054,003843: 26,3027           34021                           STCALL   COSTH                                 #  16D
025055,003844: 26,3030           26510                                    ARCTAN                                
025056,003845: 26,3031           41221                           BDSU     DMP                                   
025057,003846: 26,3032           03736                                    RRSHAFT                               
025058,003847: 26,3033           15441                                    2PI/8                                 
025059,003848: 26,3034           41472                           SL3R     PUSH                                  
025060,003849: 26,3035           52545                           DLOAD    SL3                                   
025061,003850: 26,3036           01701                                    X789                                  
025062,003851: 26,3037           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025063,003852: 26,3040           56176                                    0,2                                   
025064,003853: 26,3041           53605                           DMP      SRR*                                  
025065,003854: 26,3042           03722                                    RXZ                                   
025066,003855: 26,3043           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025067,003856: 26,3044           27547                           STOVL    DELTAQ                                #  EARTH B-29.  MOON B-27
025068,003857: 26,3045           03724                                    ULC                                   
025069,003858: 26,3046           76435                           VXV      VSL1                                  
025070,003859: 26,3047           03705                                    MY                                    
025071,003860: 26,3050           77656                           UNIT                                           
025072,003861: 26,3051           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED

Page 581

025074,003863: 26,3052           00747                                    VEHUPFLG                              
025075,003864: 26,3053           55054                                    +1                                    
025076,003865: 26,3054           27525                           STOVL    BVECTOR                               
025077,003866: 26,3055           06522                                    ZEROVECS                              
025078,003867: 26,3056           03533                           STORE    BVECTOR    +6                         
025079,003868: 26,3057           17541                           STODL    BVECTOR    +12D                       
025080,003869: 26,3060           03722                                    RXZ                                   
025081,003870: 26,3061           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025082,003871: 26,3062           20577                                    0          -2,1                       
025083,003872: 26,3063           56176                                    0,2                                   
025084,003873: 26,3064           03541                           STORE    BVECTOR    +12D                       
025085,003874: 26,3065           77735                           SLOAD                                          
025086,003875: 26,3066           02011                                    SHAFTVAR                              
025087,003876: 26,3067           41215                           DAD      DMP                                   
025088,003877: 26,3070           15436                                    IMUVAR                                #  RAD**2 B12
025089,003878: 26,3071           03722                                    RXZ                                   
025090,003879: 26,3072           41257                           SRR*     DMP                                   
025091,003880: 26,3073           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025092,003881: 26,3074           03722                                    RXZ                                   
025093,003882: 26,3075           53657                           SR*      SR*                                   
025094,003883: 26,3076           20577                                    0          -2,1                       
025095,003884: 26,3077           57176                                    0,2                                   
025096,003885: 26,3100           47057                           SR*      RTB                                   
025097,003886: 26,3101           57176                                    0,2                                   
025098,003887: 26,3102           21633                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025099,003888: 26,3103           36707                           STCALL   VARIANCE                              #  B-40
025100,003889: 26,3104           55401                                    LGCUPDTE                              
025101,003890: 
025102,003891: 26,3105           77624                           CALL                                           
025103,003892: 26,3106           11244                                    GRP2PC                                
025104,003893: 26,3107           77624        TRUNBQ             CALL                                           
025105,003894: 26,3110           55361                                    RADARANG                              
025106,003895: 26,3111           45131                           SSP      CALL                                  #  STORE TRUNNION CODE (4) FOR R3 IN N49
025107,003896: 26,3112           03746                                    WHCHREAD                              
025108,003897: 26,3113           00004                           DEC      4          B-14                       
025109,003898: 26,3114           11244                                    GRP2PC                                
025110,003899: 26,3115           47375                           VLOAD    VXV                                   
025111,003900: 26,3116           03724                                    ULC                                   
025112,003901: 26,3117           03705                                    MY                                    
025113,003902: 26,3120           47372                           VSL1     VXV                                   
025114,003903: 26,3121           03724                                    ULC                                   
025115,003904: 26,3122           77772                           VSL1                                           #  (ULC X MY) X ULC
025116,003905: 26,3123           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025117,003906: 26,3124           00747                                    VEHUPFLG                              
025118,003907: 26,3125           55126                                    +1                                    
025119,003908: 26,3126           27525                           STOVL    BVECTOR                               
025120,003909: 26,3127           06522                                    ZEROVECS                              
025121,003910: 26,3130           03533                           STORE    BVECTOR    +6                         
025122,003911: 26,3131           17541                           STODL    BVECTOR    +12D                       
025123,003912: 26,3132           03722                                    RXZ                                   

Page 582

025125,003914: 26,3133           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025126,003915: 26,3134           20577                                    0          -2,1                       
025127,003916: 26,3135           56176                                    0,2                                   
025128,003917: 26,3136           03543                           STORE    BVECTOR    +14D                       
025129,003918: 26,3137           77735                           SLOAD                                          
025130,003919: 26,3140           02012                                    TRUNVAR                               
025131,003920: 26,3141           41215                           DAD      DMP                                   
025132,003921: 26,3142           15436                                    IMUVAR                                
025133,003922: 26,3143           03722                                    RXZ                                   
025134,003923: 26,3144           41257                           SRR*     DMP                                   
025135,003924: 26,3145           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025136,003925: 26,3146           03722                                    RXZ                                   
025137,003926: 26,3147           53657                           SR*      SR*                                   
025138,003927: 26,3150           20577                                    0          -2,1                       
025139,003928: 26,3151           57176                                    0,2                                   
025140,003929: 26,3152           47057                           SR*      RTB                                   
025141,003930: 26,3153           57176                                    0,2                                   
025142,003931: 26,3154           21633                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025143,003932: 26,3155           16707                           STODL    VARIANCE                              
025144,003933: 26,3156           03732                                    SINTHETA                              
025145,003934: 26,3157           44336                           ASIN     BDSU                                  #  SIN THETA IN PD6
025146,003935: 26,3160           03734                                    RRTRUN                                
025147,003936: 26,3161           56405                           DMP      SL3R                                  
025148,003937: 26,3162           15441                                    2PI/8                                 
025149,003938: 26,3163           52525                           PDDL     SL3                                   
025150,003939: 26,3164           01703                                    X789       +2                         
025151,003940: 26,3165           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025152,003941: 26,3166           56176                                    0,2                                   
025153,003942: 26,3167           53605                           DMP      SRR*                                  
025154,003943: 26,3170           03722                                    RXZ                                   
025155,003944: 26,3171           21601                                    0,1                                   
025156,003945: 26,3172           37547                           STCALL   DELTAQ                                #  EARTH B-29.  MOON B-27
025157,003946: 26,3173           55401                                    LGCUPDTE                              
025158,003947: 26,3174           77624                           CALL                                           
025159,003948: 26,3175           11244                                    GRP2PC                                
025160,003949: 26,3176           77650        RENDEND            GOTO                                           
025161,003950: 26,3177           50566                                    R22LEM93                              
025162,003951: 
025163,003952:                                                                                                  #  FUNCTIONAL DESCRIPTION
025164,003953:                                                                                                  #        LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025165,003954:                                                                                                  #        COMPUTER ONLY.  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025166,003955:                                                                                                  #        AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025167,003956: 
025168,003957:                                                                                                  #  SUBROUTINES CALLED
025169,003958:                                                                                                  #        INSTALL         LGCUPDTE        INCORP1         RP-TO-R
025170,003959:                                                                                                  #        INTEGRV         GETULC          INCORP2
025171,003960: 
025172,003961:                                                                                                  #  OUTPUT
025173,003962:                                                                                                  #        CORRECTED CSM STATE VECTOR (PERMANENT)
025174,003963:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR

Page 583

025176,003965:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025177,003966:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025178,003967:                                                                                                  #        UPDATED W-MATRIX
025179,003968: 
025180,003969:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025181,003970:                                                                                                  #        LM AND CSM STATE VECTORS
025182,003971:                                                                                                  #        W-MATRIX
025183,003972:                                                                                                  #        MARK TIME IN MKTIME
025184,003973:                                                                                                  #        RADAR RANGE IN RM METERS B-29
025185,003974:                                                                                                  #        RANGE RATE IN RDOTM METERS/CSEC B-7
025186,003975:                                                                                                  #        VEHUPFLG
025187,003976: 
025188,003977: 26,3200           77624        LSR22.4            CALL                                           
025189,003978: 26,3201           27414                                    INTSTALL                              
025190,003979: 26,3202           43014                           SET      CLEAR                                 
025191,003980: 26,3203           01472                                    STATEFLG                              
025192,003981: 26,3204           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
025193,003982: 26,3205           77624                           CALL                                           
025194,003983: 26,3206           55242                                    INTGRCAL                              
025195,003984: 26,3207           77624                           CALL                                           
025196,003985: 26,3210           11244                                    GRP2PC                                
025197,003986: 26,3211           45014                           CLEAR    CALL                                  
025198,003987: 26,3212           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
025199,003988: 26,3213           27414                                    INTSTALL                              
025200,003989: 26,3214           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
025201,003990: 26,3215           03463                                    MARKCTR                               
025202,003991: 26,3216           55231                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
025203,003992: 26,3217           43014                           CLEAR    SET                                   
025204,003993: 26,3220           01675                                    D6OR9FLG                              
025205,003994: 26,3221           01476                                    DIM0FLAG                              
025206,003995: 26,3222           43014                           SET      CLEAR                                 
025207,003996: 26,3223           01474                                    VINTFLAG                              
025208,003997: 26,3224           01673                                    INTYPFLG                              
025209,003998: 26,3225           77624                           CALL                                           
025210,003999: 26,3226           55242                                    INTGRCAL                              
025211,004000: 26,3227           77650                           GOTO                                           
025212,004001: 26,3230           54510                                    RANGEBQ                               
025213,004002: 
025214,004003: 26,3231           77624        INITWMX6           CALL                                           
025215,004004: 26,3232           55251                                    WLINIT                                #  INITIALIZE W-MATRIX
025216,004005: 26,3233           45014                           SET      CALL                                  
025217,004006: 26,3234           01474                                    VINTFLAG                              
025218,004007: 26,3235           26644                                    SETIFLGS                              
025219,004008: 26,3236           77624                           CALL                                           
025220,004009: 26,3237           55242                                    INTGRCAL                              
025221,004010: 26,3240           77650                           GOTO                                           
025222,004011: 26,3241           54510                                    RANGEBQ                               
025223,004012: 
025224,004013:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV

Page 584

025226,004015: 26,3242           71220        INTGRCAL           STQ      DLOAD                                 
025227,004016: 26,3243           03675                                    IGRET                                 
025228,004017: 26,3244           03755                                    MKTIME                                
025229,004018: 26,3245           34041                           STCALL   TDEC1                                 
025230,004019: 26,3246           27134                                    INTEGRV                               
025231,004020: 26,3247           77650                           GOTO                                           
025232,004021: 26,3250           03675                                    IGRET                                 
025233,004022: 
025234,004023:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025235,004024:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025236,004025: 
025237,004026: 26,3251  E5,1400                                  EBANK=   W                                     
025238,004027: 26,3251           77776        WLINIT             EXIT                                           
025239,004028: 26,3252           33331                           CAF      WBANK                                 
025240,004029: 26,3253           54006                           TS       BBANK                                 
025241,004030: 26,3254           33437                           CAF      WSIZE                                 
025242,004031: 26,3255           55257                           TS       W.IND                                 
025243,004032: 26,3256           34755                           CAF      ZERO                                  
025244,004033: 26,3257           51257                           INDEX    W.IND                                 
025245,004034: 26,3260           55400                           TS       W                                     
025246,004035: 26,3261           11257                           CCS      W.IND                                 
025247,004036: 26,3262           03255                           TC       -5                                    
025248,004037: 26,3263           33332                           CAF      AIGBANK                               #  RESTORE EBANK 7
025249,004038: 26,3264           54006                           TS       BBANK                                 
025250,004039: 26,3265           06037                           TC       INTPRET                               
025251,004040: 26,3266           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE, INITIALIZE WITH 
025252,004041: 26,3267           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
025253,004042: 26,3270           55274                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
025254,004043: 26,3271           02001                                    WRENDPOS                              
025255,004044: 26,3272           77650                           GOTO                                           
025256,004045: 26,3273           55276                                    WPOSTORE                              
025257,004046: 26,3274           77735        WLSRFPOS           SLOAD                                          
025258,004047: 26,3275           02007                                    WSURFPOS                              
025259,004048: 26,3276           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
025260,004049: 26,3277           20606                                    5                                     
025261,004050: 26,3300           02401                           STORE    W                                     
025262,004051: 26,3301           02411                           STORE    W          +8D                        
025263,004052: 26,3302           02421                           STORE    W          +16D                       
025264,004053: 26,3303           67214                           BON      SLOAD                                 
025265,004054: 26,3304           04307                                    SURFFLAG                              
025266,004055: 26,3305           55311                                    WLSRFVEL                              
025267,004056: 26,3306           02002                                    WRENDVEL                              
025268,004057: 26,3307           77650                           GOTO                                           
025269,004058: 26,3310           55313                                    WVELSTOR                              
025270,004059: 26,3311           77735        WLSRFVEL           SLOAD                                          
025271,004060: 26,3312           02010                                    WSURFVEL                              
025272,004061: 26,3313           02511        WVELSTOR           STORE    W          +72D                       
025273,004062: 26,3314           02521                           STORE    W          +80D                       
025274,004063: 26,3315           02531                           STORE    W          +88D                       
025275,004064: 26,3316           77735                           SLOAD                                          

Page 585

025277,004066: 26,3317           02003                                    WSHAFT                                
025278,004067: 26,3320           02621                           STORE    W          +144D                      
025279,004068: 26,3321           77735                           SLOAD                                          
025280,004069: 26,3322           02004                                    WTRUN                                 
025281,004070: 26,3323           02631                           STORE    W          +152D                      
025282,004071: 26,3324           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
025283,004072: 26,3325           02476                                    RENDWFLG                              
025284,004073: 26,3326           03463                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
025285,004074: 26,3327           00000                                    0                                     
025286,004075: 26,3330           77616                           RVQ                                            
025287,004076: 
025288,004077: 26,3331  E5,1400                                  EBANK=   W                                     
025289,004078: 26,3331           54065        WBANK              BBCON    WLINIT                                
025290,004079: 26,3332  E7,1457                                  EBANK=   AIG                                   
025291,004080: 26,3332           54067        AIGBANK            BBCON    LSR22.3                               
025292,004081: 
025293,004082:                                                                                                  #  GETULC
025294,004083: 
025295,004084:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025296,004085:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025297,004086:                                                                                                  #  MAGNITUDE IN 36D.
025298,004087: 
025299,004088: 26,3333           77201        GETULC             SETPD    VLOAD                                 
025300,004089: 26,3334           00001                                    0                                     
025301,004090: 26,3335           01645                                    DELTALEM                              
025302,004091: 26,3336           77754                           LXA,2                                          
025303,004092: 26,3337           03720                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
025304,004093: 26,3340           53257                           VSR*     VAD                                   
025305,004094: 26,3341           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025306,004095: 26,3342           01661                                    RCVLEM                                
025307,004096: 26,3343           53715                           PDVL     VSR*                                  
025308,004097: 26,3344           01573                                    DELTACSM                              
025309,004098: 26,3345           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025310,004099: 26,3346           52255                           VAD      VSU                                   
025311,004100: 26,3347           01607                                    RCVCSM                                
025312,004101: 26,3350           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
025313,004102: 26,3351           21724                                    NORMUNX1                              
025314,004103: 26,3352           17724                           STODL    ULC                                   
025315,004104: 26,3353           00045                                    36D                                   
025316,004105: 26,3354           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
025317,004106: 26,3355           20201                                    0,1                                   
025318,004107: 26,3356           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
025319,004108: 26,3357           03724                                    ULC                                   
025320,004109: 26,3360           77616                           RVQ                                            
025321,004110: 
025322,004111:                                                                                                  #  RADARANG
025323,004112: 
025324,004113:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025325,004114:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
025326,004115:                                                                                                  #  OUTPUT
025327,004116:                                                                                                  #        ULC IN ULC, PD0

Page 586

025329,004118:                                                                                                  #        RLC IN PD36D
025330,004119:                                                                                                  #        SIN THETA IN SINTHETA AND PD6
025331,004120:                                                                                                  #        RXZ NORM IN RXZ (N IN X1)
025332,004121: 
025333,004122: 26,3361           45020        RADARANG           STQ      CALL                                  
025334,004123: 26,3362           03675                                    RDRET                                 
025335,004124: 26,3363           55333                                    GETULC                                
025336,004125: 26,3364           50276                           VCOMP    DOT                                   
025337,004126: 26,3365           03705                                    MY                                    
025338,004127: 26,3366           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
025339,004128: 26,3367           03732                           STORE    SINTHETA                              
025340,004129: 26,3370           44316                           DSQ      BDSU                                  
025341,004130: 26,3371           06512                                    DP1/4TH                               #  1-(SIN THETA)**2
025342,004131: 26,3372           41366                           SQRT     DMP                                   
025343,004132: 26,3373           00045                                    36D                                   
025344,004133: 26,3374           60352                           SL1      NORM                                  
025345,004134: 26,3375           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
025346,004135: 26,3376           03722                           STORE    RXZ                                   
025347,004136: 26,3377           77650                           GOTO                                           #  EXIT
025348,004137: 26,3400           03675                                    RDRET                                 
025349,004138: 26,3401           45020        LGCUPDTE           STQ      CALL                                  
025350,004139: 26,3402           03675                                    LGRET                                 
025351,004140: 26,3403           46531                                    INCORP1                               
025352,004141: 26,3404           51575                           VLOAD    ABVAL                                 
025353,004142: 26,3405           02673                                    DELTAX     +6                         
025354,004143: 26,3406           53754                           LXA,2    SRR*                                  
025355,004144: 26,3407           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
025356,004145: 26,3410           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
025357,004146: 26,3411           24317                           STOVL    R22DISP    +2                         
025358,004147: 26,3412           02665                                    DELTAX                                
025359,004148: 26,3413           53646                           ABVAL    SRR*                                  
025360,004149: 26,3414           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
025361,004150: 26,3415           00315                           STORE    R22DISP                               
025362,004151: 26,3416           54335                           SLOAD    SR                                    
025363,004152: 26,3417           02005                                    RMAX                                  
025364,004153: 26,3420           20613                                    10D                                   
025365,004154: 26,3421           50025                           DSU      BMN                                   
025366,004155: 26,3422           00315                                    R22DISP                               
025367,004156: 26,3423           50572                                    R22LEM96                              #  GO DISPLAY
025368,004157: 26,3424           45335                           SLOAD    DSU                                   
025369,004158: 26,3425           02006                                    VMAX                                  
025370,004159: 26,3426           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
025371,004160: 26,3427           77640                           BMN                                            
025372,004161: 26,3430           50572                                    R22LEM96                              #  GO DISPLAY
025373,004162: 26,3431           77624        ASTOK              CALL                                           
025374,004163: 26,3432           46743                                    INCORP2                               
025375,004164: 26,3433           77650                           GOTO                                           
025376,004165: 26,3434           03675                                    LGRET                                 
025377,004166: 26,3435           00103 03370  IMUVAR             2DEC     E-6        B12                        #  RAD**2
025378,004167: 
025379,004168: 26,3437           00241        WSIZE              DEC      161        B-14                       

Page 587

025381,004170: 26,3440           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
025382,004171: 
025383,004172: 26,3442  E7,1456                                  EBANK=   LOSCOUNT                              

Page 588

025385,004174: 
025386,004175:                                                                                                  #  PROGRAM NAME LRS24.1          RR SEARCH ROUTINE
025387,004176:                                                                                                  #  MOD NO 0                      BY P VOLANTE   SDC              DATE 1-15-67
025388,004177: 
025389,004178:                                                                                                  #  FUNCTIONAL DESCRIPTION
025390,004179: 
025391,004180:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025392,004181:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025393,004182:                                                                                                  #  LM +Z AXIS.  IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025394,004183:                                                                                                  #  ATTITUDE MANEUVER.
025395,004184: 
025396,004185:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
025397,004186: 
025398,004187:                                                                                                  #  SUBROUTINES CALLED
025399,004188: 
025400,004189:                                                                                                  #        LEMCONIC        R61LEM
025401,004190:                                                                                                  #        CSMCONIC        RRDESSM
025402,004191:                                                                                                  #        JOBDELAY        FLAGDOWN
025403,004192:                                                                                                  #        WAITLIST        FLAGUP
025404,004193:                                                                                                  #        RRNB            BANKCALL
025405,004194: 
025406,004195:                                                                                                  #  EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025407,004196: 
025408,004197:                                                                                                  #  OUTPUT
025409,004198: 
025410,004199:                                                                                                  #        DATAGOOD (SP) - FOR DISPLAY IN R1 -     00000 INDICATES NO LOCKON
025411,004200:                                                                                                  #                                                11111 INDICATES LOCKON ACHIEVED
025412,004201:                                                                                                  #        OMEGAD (SP)   - FOR DISPLAY IN R2 -     ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025413,004202: 
025414,004203:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025415,004204: 
025416,004205:                                                                                                  #        SEARCH FLAG MUST BE SET
025417,004206:                                                                                                  #        LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025418,004207: 
025419,004208:                                                                                                  #  DEBRIS
025420,004209: 
025421,004210:                                                                                                  #        RLMSRCH         UXVECT
025422,004211:                                                                                                  #        VXRLM           UYVECT
025423,004212:                                                                                                  #        LOSDESRD        NSRCHPNT
025424,004213:                                                                                                  #        DATAGOOD        OMEGAD
025425,004214:                                                                                                  #        MPAC            PUSHLIST
025426,004215: 
025427,004216: 26,3442                                           COUNT*   $$/LRS24                              
025428,004217: 26,3442           34755        LRS24.1            CAF      ZERO                                  
025429,004218: 26,3443           55736                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
025430,004219: 26,3444           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
025431,004220: 26,3445           00006                           EXTEND                                         

Page 589

025433,004222: 26,3446           05012                           WOR      CHAN12                                
025434,004223: 26,3447           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
025435,004224: 26,3450           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
025436,004225: 26,3451           00006                           EXTEND                                         
025437,004226: 26,3452           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
025438,004227: 
025439,004228: 26,3453           33713                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025440,004229: 26,3454           00004                           INHINT                                         
025441,004230: 26,3455           05203                           TC       WAITLIST                              #  IN 6 SECONDS
025442,004231: 26,3456  E7,1456                                  EBANK=   LOSCOUNT                              
025443,004232: 26,3456           03643 54067                     2CADR    CALLDGCH                              
025444,004233: 
025445,004234: 26,3460           00003                           RELINT                                         
025446,004235: 26,3461           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
025447,004236: 26,3462           74736                           MASK     REMODBIT                              
025448,004237: 26,3463           00006                           EXTEND                                         
025449,004238: 26,3464           15155                           BZF      ENDOFJOB                              #  YES - WAIT SIX SECONDS
025450,004239: 26,3465           06037                           TC       INTPRET                               
025451,004240: 
025452,004241: 26,3466           43234                           RTB      DAD                                   #  COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025453,004242: 26,3467           21573                                    LOADTIME                              
025454,004243: 26,3470           15715                                    1.5SECS                               
025455,004244: 26,3471           34041        LRS24.11           STCALL   TDEC1                                 
025456,004245: 26,3472           27100                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
025457,004246: 26,3473           77775                           VLOAD                                          
025458,004247: 26,3474           00001                                    RATT                                  
025459,004248: 26,3475           27676                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
025460,004249: 26,3476           00007                                    VATT                                  
025461,004250: 26,3477           17740                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
025462,004251: 26,3500           00015                                    TAT                                   
025463,004252: 26,3501           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
025464,004253: 26,3502           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
025465,004254: 26,3503           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM) - R(LM)
025466,004255: 26,3504           00001                                    RATT                                  
025467,004256: 26,3505           03676                                    RLMSRCH                               
025468,004257: 26,3506           77656                           UNIT                                           
025469,004258: 26,3507           27712                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
025470,004259: 26,3510           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
025471,004260: 26,3511           47256                           UNIT     VXV                                   
025472,004261: 26,3512           00001                                    RATT                                  
025473,004262: 26,3513           77656                           UNIT                                           
025474,004263: 26,3514           03704                           STORE    VXRCM                                 
025475,004264: 26,3515           52375                           VLOAD    VSU                                   
025476,004265: 26,3516           00007                                    VATT                                  
025477,004266: 26,3517           03740                                    SAVLEMV                               
025478,004267: 26,3520           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
025479,004268: 26,3521           01734                                    REFSMMAT                              
025480,004269: 26,3522           03740                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
025481,004270: 26,3523           53135                           SLOAD    BZE                                   #  CHECK IF N=0

Page 590

025483,004272: 26,3524           03737                                    NSRCHPNT                              
025484,004273: 26,3525           55636                                    DESGLOS                               #  YES - DESIGNATE ALONG LOS
025485,004274: 26,3526           53025                           DSU      BZE                                   #  IS N=1
025486,004275: 26,3527           15711                                    ONEOCT                                #  YES - CALCULATE X AND Y AXES OF
025487,004276: 26,3530           55623                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
025488,004277: 26,3531           77775                           VLOAD                                          #  NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025489,004278: 26,3532           03720                                    UXVECT                                
025490,004279: 26,3533           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
025491,004280: 26,3534           03726                                    UYVECT                                #  UXPRIME = ORIGINAL UX
025492,004281: 26,3535           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
025493,004282: 26,3536           77761                           VXSC                                           
025494,004283: 26,3537           15705                                    SIN60DEG                              #  UX = (COS 60)UXPR + (SIN 60)UYPR
025495,004284: 26,3540           27720                           STOVL    UXVECT                                
025496,004285: 26,3541           00015                                    UXVECTPR                              
025497,004286: 26,3542           53361                           VXSC     VAD                                   
025498,004287: 26,3543           06520                                    COS60DEG                              
025499,004288: 26,3544           03720                                    UXVECT                                
025500,004289: 26,3545           77656                           UNIT                                           
025501,004290: 26,3546           27720                           STOVL    UXVECT                                
025502,004291: 26,3547           00015                                    UXVECTPR                              #  UY = (-SIN 60)UXPR + (COS 60)UYPR
025503,004292: 26,3550           77761                           VXSC                                           
025504,004293: 26,3551           15705                                    SIN60DEG                              
025505,004294: 26,3552           27726                           STOVL    UYVECT                                
025506,004295: 26,3553           00023                                    UYVECTPR                              
025507,004296: 26,3554           52361                           VXSC     VSU                                   
025508,004297: 26,3555           06520                                    COS60DEG                              
025509,004298: 26,3556           03726                                    UYVECT                                
025510,004299: 26,3557           77656                           UNIT                                           
025511,004300: 26,3560           03726                           STORE    UYVECT                                
025512,004301: 26,3561           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
025513,004302: 26,3562           15707                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
025514,004303: 26,3563           03712                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
025515,004304: 26,3564           64256                           UNIT     MXV                                   
025516,004305: 26,3565           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
025517,004306: 26,3566           77772                           VSL1                                           
025518,004307: 26,3567           25102        CONTDESG           STOVL    RRTARGET                              
025519,004308: 26,3570           03740                                    SAVLEMV                               
025520,004309: 26,3571           01761                           STORE    LOSVEL                                
025521,004310: 26,3572           77776                           EXIT                                           
025522,004311: 26,3573           00004                           INHINT                                         
025523,004312: 26,3574           06027                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
025524,004313: 26,3575           52602                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
025525,004314:                                                                                                  #  POINT IN THE PATTERN
025526,004315: 26,3576           44735        CONTDES2           CS       CDESBIT                               
025527,004316: 26,3577           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
025528,004317: 26,3600           64735                           AD       CDESBIT                               #  A CONTINUOUS DESIGNATE WANTED.
025529,004318: 26,3601           54110                           TS       RADMODES                              
025530,004319: 26,3602           06037                           TC       INTPRET                               
025531,004320: 
025532,004321: 26,3603           77624                           CALL                                           

Page 591

025534,004323: 26,3604           52373                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
025535,004324: 
025536,004325: 26,3605           77776                           EXIT                                           
025537,004326: 26,3606           03675                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
025538,004327: 26,3607           03675                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
025539,004328: 
025540,004329:                                                                                                  #  COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025541,004330:                                                                                                  #  SPACECRAFT +Z AXIS
025542,004331: 26,3610           00006        OMEGCALC           EXTEND                                         
025543,004332: 26,3611           30036                           DCA      CDUT                                  
025544,004333: 26,3612           53753                           DXCH     TANGNB                                
025545,004334: 26,3613           06037                           TC       INTPRET                               
025546,004335: 26,3614           77624                           CALL                                           
025547,004336: 26,3615           46041                                    RRNB                                  
025548,004337: 26,3616           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025549,004338: 26,3617           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025550,004339: 26,3620           03735                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
025551,004340: 26,3621           77776                           EXIT                                           
025552,004341: 26,3622           05155                           TC       ENDOFJOB                              

Page 592

025554,004343:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025555,004344: 
025556,004345: 26,3623           47375        CALCXY             VLOAD    VXV                                   
025557,004346: 26,3624           03704                                    VXRCM                                 
025558,004347: 26,3625           03712                                    LOSDESRD                              
025559,004348: 26,3626           77656                           UNIT                                           
025560,004349: 26,3627           27720                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
025561,004350: 26,3630           03712                                    LOSDESRD                              
025562,004351: 26,3631           53435                           VXV      UNIT                                  
025563,004352: 26,3632           03720                                    UXVECT                                
025564,004353: 26,3633           03726                           STORE    UYVECT                                #  UY = LOS X UX
025565,004354: 26,3634           77650                           GOTO                                           
025566,004355: 26,3635           55561                                    OFFCALC                               
025567,004356: 
025568,004357: 26,3636           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
025569,004358: 26,3637           03712                                    LOSDESRD                              
025570,004359: 26,3640           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
025571,004360: 26,3641           52172                           VSL1     GOTO                                  
025572,004361: 26,3642           55567                                    CONTDESG                              
025573,004362: 
025574,004363: 26,3643           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
025575,004364: 26,3644           74745                           MASK     RNDVZBIT                              
025576,004365: 26,3645           00006                           EXTEND                                         
025577,004366: 26,3646           15261                           BZF      TASKOVER                              #  NO - EXIT R24
025578,004367: 26,3647           37713                           CAF      PRIO25                                #  YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025579,004368: 26,3650           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
025580,004369: 26,3651  E7,1675                                  EBANK=   RLMSRCH                               
025581,004370: 26,3651           03654 54067                     2CADR    DATGDCHK                              
025582,004371: 
025583,004372: 26,3653           05261                           TC       TASKOVER                              
025584,004373: 
025585,004374: 26,3654           34750        DATGDCHK           CAF      BIT4                                  
025586,004375: 26,3655           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
025587,004376: 26,3656           02033                           RAND     CHAN33                                
025588,004377: 26,3657           00006                           EXTEND                                         
025589,004378: 26,3660           13667                           BZF      STORE1S                               #  YES - GO TO STORE 11111 FOR DISPLAY IN R1
025590,004379: 26,3661           46242                           CS       SIX                                   
025591,004380: 26,3662           61736                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
025592,004381: 26,3663           00006                           EXTEND                                         
025593,004382: 26,3664           13442                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
025594,004383: 26,3665           25736                           INCR     NSRCHPNT                              #  NO-SET N = N+1 AN GO TO
025595,004384: 26,3666           13444                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
025596,004385: 
025597,004386: 26,3667           33703        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
025598,004387: 26,3670           55733                           TS       DATAGOOD                              

Page 593

025600,004389: 26,3671           00004                           INHINT                                         
025601,004390: 26,3672           06027                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
025602,004391: 26,3673           52602                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
025603,004392: 26,3674           05155                           TC       ENDOFJOB                              
025604,004393: 
025605,004394: 26,3675           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527 - LOS NOT IN MODE2
025606,004395: 26,3676           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
025607,004396: 26,3677           00004                           INHINT                                         #  REQUIRED IN P20
025608,004397: 26,3700           06027                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
025609,004398: 26,3701           55643                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
025610,004399: 26,3702           05155                           TC       ENDOFJOB                              
025611,004400: 
025612,004401: 26,3703           25547        ALL1S              DEC      11111      B-14                       
025613,004402: 26,3704           33555 01106  SIN60DEG           2DEC     .86603                                
025614,004403: 26,3706  23,2517               COS60DEG           =        DPHALF                                #  (2DEC .50)
025615,004404: 26,3706                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
025616,004405: 26,3706                        UYVECTPR           EQUALS   18D                                   
025617,004406: 26,3706                        RLMUNIT            EQUALS   12D                                   
025618,004407: 26,3706           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
025619,004408: 
025620,004409: 26,3710           00001        ONEOCT             OCT      00001                                 #  **** NOTE - THESE TWO CONSTANTS MUST ****
025621,004410: 26,3711           00000 00454  3SECONDS           2DEC     300        B-28                       #  **** BE IN THIS ORDER BECAUSE         ****
025622,004411: 
025623,004412:                                                                                                  #  **** ONEOCT NEEDS A LOWER ORDER       ****
025624,004413:                                                                                                  #  **** WORD OF ZEROES                   ****
025625,004414: 26,3713           01130        6SECONDS           DEC      600        B-14                       
025626,004415: 26,3714           00000 00226  1.5SECS            2DEC     150        B-28                       
025627,004416: 
025628,004417: 26,3716  23,2521               ZERO/SP            EQUALS   HI6ZEROS                              
025629,004418: 
025630,004419:    4616                                           BLOCK    02                                    
025631,004420:    6000                                           SETLOC   FFTAG5                                
025632,004421:    6000                                           BANK                                           
025633,004422:    6022                                           COUNT*   $$/P20                                
025634,004423:    6022           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
025635,004424:    6023           36026                           DCA      VB56CADR                              #  GOTOPOOH
025636,004425:    6024           15165                           TCF      SUPDXCHZ                              
025637,004426:    6025  E7,1471                                  EBANK=   WHOCARES                              
025638,004427:    6025           03024 66107  VB56CADR           2CADR    TRMTRACK                              
025639,004428: 

Page 594

025641,004430:                                                                                                  #  PROGRAM NAME: R29     (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025642,004431:                                                                                                  #  MOD NO. 2     BY H. BLAIR-SMITH       JULY 2, 1968.
025643,004432: 
025644,004433:                                                                                                  #  FUNCTIONAL DESCRIPTION:
025645,004434: 
025646,004435:                                                                                                  #        DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025647,004436:                                                                                                  #        AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
025648,004437:                                                                                                  #        THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
025649,004438:                                                                                                  #        THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025650,004439:                                                                                                  #        DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025651,004440:                                                                                                  #        INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
025652,004441: 
025653,004442:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025654,004443: 
025655,004444:                                                                                                  #  SUBROUTINES CALLED:
025656,004445: 
025657,004446:                                                                                                  #        REMODE          RRTONLY
025658,004447:                                                                                                  #        UNIT            MPACVBUF
025659,004448:                                                                                                  #        QUICTRIG        AX*SR*T
025660,004449:                                                                                                  #        SPSIN           SPCOS
025661,004450:                                                                                                  #        SETRRECR        RROUT
025662,004451:                                                                                                  #        RRRDOT          RRRANGE
025663,004452: 
025664,004453:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
025665,004454: 
025666,004455:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
025667,004456: 
025668,004457:                                                                                                  #        RM              RDOTM           (RAW)
025669,004458:                                                                                                  #        AIG             AMG             
025670,004459:                                                                                                  #        AOG             TRKMKCNT        TRKMKCNT = 00001 IF SET IS CONSISTENT,
025671,004460:                                                                                                  #        TANGNB          TANGNB +1       OTHERWISE TRKMKCNT = 00000.
025672,004461:                                                                                                  #        MKTIME

Page 595

025674,004463: 
025675,004464:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
025676,004465: 
025677,004466:                                                                                                  #        NOR29FLG        READRFLG                (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025678,004467:                                                                                                  #        PIPTIME         RADMODES (BIT 10)       (BIT SET TO 0 BY FRESH START)
025679,004468:                                                                                                  #        R(CSM)          V(CSM)
025680,004469:                                                                                                  #        R               V                       (PIPTIME THRU V BY AVE G IN SERVICER)
025681,004470: 
025682,004471:                                                                                                  #  DEBRIS:
025683,004472: 
025684,004473:                                                                                                  #        RADMODES (BIT 10)
025685,004474:                                                                                                  #        LOSSM           LOSVDT/4                (= RRTARGET & LOSVEL)
025686,004475:                                                                                                  #        SAVECDUT        OLDESFLG                (SAVECDUT = MLOSV)
025687,004476:                                                                                                  #        LOSCMFLG        READRFLG
025688,004477: 
025689,004478:                                                                                                  #  ALARMS:  NONE.
025690,004479: 
025691,004480:                                                                                                  #  COMPONENT JOBS AND TASKS:
025692,004481: 
025693,004482:                                                                                                  #        INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
025694,004483:                                                                                                  #        DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
025695,004484:                                                                                                  #        RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
025696,004485: 
025697,004486: 33,2045                                           BANK     33                                    
025698,004487: 33,2000                                           SETLOC   R29/SERV                              
025699,004488: 33,2000                                           BANK                                           
025700,004489: 
025701,004490: 33,2045                                           COUNT*   $$/R29                                
025702,004491: 
025703,004492: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
025704,004493: 

Page 596

025706,004495:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025707,004496:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025708,004497: 
025709,004498: 33,2045           40110        R29                CS       RADMODES                              
025710,004499: 33,2046           74742                           MASK     DESIGBIT                              
025711,004500: 33,2047           00006                           EXTEND                                         
025712,004501: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
025713,004502: 
025714,004503: 33,2051           00004                           INHINT                                         
025715,004504: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
025716,004505: 33,2053           44736                           CS       BIT14                                 
025717,004506: 33,2054           00006                           EXTEND                                         
025718,004507: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
025719,004508: 33,2056           44740                           CS       LOSCMBIT                              
025720,004509: 33,2057           70076                           MASK     FLAGWRD2                              
025721,004510: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025722,004511: 33,2061           44753                           CS       OLDESBIT                              
025723,004512: 33,2062           70074                           MASK     STATE                                 
025724,004513: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
025725,004514: 33,2064           04616                           TC       BANKCALL                              
025726,004515: 33,2065           52156                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
025727,004516: 33,2066           34740                           CA       ANTENBIT                              
025728,004517: 33,2067           70110                           MASK     RADMODES                              
025729,004518: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
025730,004519: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
025731,004520: 
025732,004521: 33,2072           35031                           CA       PRIO21                                #  MODE 1;  MUST REMODE.
025733,004522: 33,2073           05072                           TC       NOVAC                                 
025734,004523: 33,2074  E7,1456                                  EBANK=   LOSCOUNT                              
025735,004524: 33,2074           02113 66067                     2CADR    R29REMOJ                              #  NEEDS OWN JOB TO RADSTALL IN.
025736,004525: 
025737,004526: 33,2076           44742                           CS       DESIGBIT                              
025738,004527: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
025739,004528: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
025740,004529: 33,2101           34736                           CA       REMODBIT                              
025741,004530: 33,2102           26110                           ADS      RADMODES                              #  SHOW THAT REMODING IS ON.
025742,004531: 33,2103           12570                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
025743,004532: 
025744,004533: 33,2104           34753        SETPRPOS           CA       ONE                                   
025745,004534: 33,2105           05203                           TC       WAITLIST                              
025746,004535: 33,2106  E7,1456                                  EBANK=   LOSCOUNT                              
025747,004536: 33,2106           03601 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
025748,004537: 
025749,004538: 33,2110           34741                           CA       REPOSBIT                              
025750,004539: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
025751,004540: 33,2112           12570                           TCF      NOR29NOW                              
025752,004541: 

Page 597

025754,004543:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
025755,004544: 
025756,004545: 33,2113           34753        R29REMOJ           CA       ONE                                   
025757,004546: 33,2114           05203                           TC       WAITLIST                              
025758,004547: 33,2115  E7,1456                                  EBANK=   LOSCOUNT                              
025759,004548: 33,2115           02171 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
025760,004549: 
025761,004550: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
025762,004551: 33,2120           17714                           CADR     RADSTALL                              
025763,004552: 
025764,004553: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
025765,004554: 33,2122           15155                           TCF      ENDOFJOB                              
025766,004555: 
025767,004556:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025768,004557: 
025769,004558: 25,2000                                           SETLOC   R29S1                                 
025770,004559: 25,2000                                           BANK                                           
025771,004560: 
025772,004561: 25,3601           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
025773,004562: 25,3602           02241                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
025774,004563: 25,3603           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
025775,004564: 25,3604           70110                           MASK     RADMODES                              
025776,004565: 25,3605           54110                           TS       RADMODES                              
025777,004566: 25,3606           15261                           TCF      TASKOVER                              
025778,004567: 
025779,004568:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025780,004569: 
025781,004570: 33,2045                                           SETLOC   R29                                   
025782,004571: 33,2045                                           BANK                                           
025783,004572: 
025784,004573: 33,2123           00006        R29.LOS            EXTEND                                         
025785,004574: 33,2124           41235                           DCS      PIPTIME                               
025786,004575: 33,2125           52155                           DXCH     MPAC                                  
025787,004576: 33,2126           00006                           EXTEND                                         
025788,004577: 33,2127           30025                           DCA      TIME2                                 
025789,004578: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
025790,004579: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
025791,004580: 33,2132           30155                           CA       MPAC       +1                         
025792,004581: 33,2133           00006                           EXTEND                                         
025793,004582: 33,2134           74740                           MP       BIT12                                 
025794,004583: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
025795,004584: 33,2136           06037                           TC       INTPRET                               

Page 598

025797,004586:                                                                                                  #  LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025798,004587:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
025799,004588: 
025800,004589: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
025801,004590: 33,2140           01726                                    V(CSM)                                
025802,004591: 33,2141           03527                                    V                                     #  LOSVEL = V(CSM) - V.
025803,004592: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025804,004593: 33,2143           52255                           VAD      VSU                                   #        AND ADD THE RESULT TO R(CSM) - R TO GET
025805,004594: 33,2144           01720                                    R(CSM)                                #        AN UP-TO-DATE LOS VECTOR IN SM AXES.
025806,004595: 33,2145           03521                                    R                                     
025807,004596: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
025808,004597: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025809,004598: 33,2150           66152                                    SETUP29D                              #  FLG TO ON AND GO TO SET UP NEW DATA.
025810,004599: 33,2151           12570                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
025811,004600: 
025812,004601: 33,2152           25102        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025813,004602: 33,2153           00001                                    0                                     
025814,004603: 33,2154           77761                           VXSC                                           
025815,004604: 33,2155           26177                                    .5SECB17                              
025816,004605: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
025817,004606: 33,2157           77414                           CLEAR    EXIT                                  
025818,004607: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
025819,004608: 
025820,004609: 33,2161           40074                           CS       STATE                                 
025821,004610: 33,2162           74753                           MASK     OLDESBIT                              
025822,004611: 33,2163           00006                           EXTEND                                         
025823,004612: 33,2164           12570                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
025824,004613: 33,2165           00004                           INHINT                                         
025825,004614: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
025826,004615: 
025827,004616: 33,2167           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025828,004617: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
025829,004618: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
025830,004619: 33,2172           05203                           TC       WAITLIST                              
025831,004620: 33,2173  E7,1456                                  EBANK=   LOSCOUNT                              
025832,004621: 33,2173           03356 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
025833,004622: 
025834,004623: 33,2175           12570                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
025835,004624: 
025836,004625: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
025837,004626: 

Page 599

025839,004628:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025840,004629:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025841,004630: 
025842,004631: 24,3356                                           BANK     24                                    
025843,004632: 24,2000                                           SETLOC   P20S                                  
025844,004633: 24,2000                                           BANK                                           
025845,004634: 
025846,004635: 24,3356                                           COUNT*   $$/R29                                
025847,004636: 
025848,004637: 24,3356           35031        BEGDES29           CAF      PRIO21                                
025849,004638: 24,3357           05072                           TC       NOVAC                                 
025850,004639: 24,3360  E3,1760                                  EBANK=   LOSVDT/4                              
025851,004640: 24,3360           02547 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
025852,004641: 
025853,004642: 24,3362           34774        R29DLOOP           CAF      .5SEC                                 
025854,004643: 24,3363           05224                           TC       VARDELAY                              
025855,004644: 
025856,004645: 24,3364           40110                           CS       RADMODES                              
025857,004646: 24,3365           74742                           MASK     DESIGBIT                              
025858,004647: 24,3366           10000                           CCS      A                                     
025859,004648: 24,3367           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
025860,004649: 
025861,004650: 24,3370           40076                           CS       FLAGWRD2                              
025862,004651: 24,3371           74740                           MASK     LOSCMBIT                              
025863,004652: 24,3372           00006                           EXTEND                                         
025864,004653: 24,3373           13376                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025865,004654: 24,3374           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
025866,004655: 24,3375           13356                           TCF      BEGDES29                              
025867,004656: 
025868,004657: 24,3376           34753                           CA       ONE                                   
025869,004658: 24,3377           13363                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.

Page 600

025871,004660:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
025872,004661: 
025873,004662:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
025874,004663:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025875,004664:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025876,004665:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025877,004666:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025878,004667: 
025879,004668:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025880,004669:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
025881,004670: 
025882,004671: 32,2547                                           BANK     32                                    
025883,004672: 32,2000                                           SETLOC   F2DPS*32                              
025884,004673: 32,2000                                           BANK                                           
025885,004674: 
025886,004675: 32,2547                                           COUNT*   $$/R29                                
025887,004676: 32,2547  E3,1760                                  EBANK=   LOSVDT/4                              
025888,004677: 
025889,004678: 32,2547           34753        R29DODES           CA       ONE                                   
025890,004679: 32,2550           55107                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
025891,004680: 32,2551           34756                           CA       FIVE                                  
025892,004681: 
025893,004682: 32,2552           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
025894,004683: 32,2553           54002                           TS       Q                                     
025895,004684: 32,2554           11107                           CCS      TANG                                  
025896,004685: 32,2555           12563                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
025897,004686: 
025898,004687: 32,2556           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
025899,004688: 32,2557           50002                           INDEX    Q                                     
025900,004689: 32,2560           31761                           DCA      LOSVDT/4                              
025901,004690: 32,2561           50002                           INDEX    Q                                     
025902,004691: 32,2562           21102                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
025903,004692: 
025904,004693: 32,2563           00006        R29DPAS1           EXTEND                                         
025905,004694: 32,2564           50002                           INDEX    Q                                     
025906,004695: 32,2565           31102                           DCA      LOSSM                                 
025907,004696: 32,2566           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025908,004697: 32,2567           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
025909,004698: 32,2570           11107                           CCS      TANG                                  
025910,004699: 32,2571           12577                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
025911,004700: 
025912,004701: 32,2572           00006                           EXTEND                                         
025913,004702: 32,2573           50002                           INDEX    Q                                     
025914,004703: 32,2574           31761                           DCA      LOSVDT/4                              
025915,004704: 32,2575           50002                           INDEX    Q                                     
025916,004705: 32,2576           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025917,004706: 
025918,004707: 32,2577           10002        R29DVEND           CCS      Q                                     
025919,004708: 32,2600           12552                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
025920,004709: 

Page 601

025922,004711:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025923,004712: 
025924,004713: 32,2601           52156                           DXCH     MPAC       +1                         
025925,004714: 32,2602           52155                           DXCH     MPAC                                  
025926,004715: 32,2603           32774                           CA       R29FXLOC                              #  = ADRES INTB15 + -34D
025927,004716: 32,2604           54120                           TS       FIXLOC                                
025928,004717: 32,2605           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025929,004718: 32,2606           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
025930,004719: 32,2607           07532                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025931,004720: 
025932,004721: 32,2610           11107                           CCS      TANG                                  
025933,004722: 32,2611           12613                           TCF      +2                                    
025934,004723: 32,2612           12627                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
025935,004724: 32,2613           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
025936,004725: 32,2614           00006                           EXTEND                                         
025937,004726: 32,2615           30036                           DCA      CDUT                                  
025938,004727: 32,2616           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
025939,004728: 32,2617           30033                           CA       CDUY                                  
025940,004729: 32,2620           54766                           TS       CDUSPOT                               
025941,004730: 32,2621           30034                           CA       CDUZ                                  
025942,004731: 32,2622           54770                           TS       CDUSPOT    +2                         
025943,004732: 32,2623           30032                           CA       CDUX                                  
025944,004733: 32,2624           54772                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025945,004734: 32,2625           04616                           TC       BANKCALL                              
025946,004735: 32,2626           47615                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
025947,004736: 
025948,004737: 32,2627           46245        GOTANGLS           CS       THREE                                 
025949,004738: 32,2630           04616                           TC       BANKCALL                              
025950,004739: 32,2631           47675                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025951,004740: 
025952,004741: 32,2632           11107                           CCS      TANG                                  
025953,004742: 32,2633           12635                           TCF      +2                                    
025954,004743: 32,2634           12702                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
025955,004744: 

Page 602

025957,004746:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025958,004747:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025959,004748: 
025960,004749: 32,2635           00004                           INHINT                                         
025961,004750: 32,2636           55107                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
025962,004751: 32,2637           31766                           CA       SAVECDUT                              
025963,004752: 32,2640           05032                           TC       SPCOS                                 
025964,004753: 32,2641           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
025965,004754: 32,2642           41766                           CS       SAVECDUT                              
025966,004755: 32,2643           05033                           TC       SPSIN                                 
025967,004756: 32,2644           54163                           TS       MODE                                  #  MODE = -SIN T.
025968,004757: 32,2645           00006                           EXTEND                                         
025969,004758: 32,2646           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
025970,004759: 32,2647           52155                           DXCH     MPAC                                  
025971,004760: 32,2650           31767                           CA       SAVECDUT   +1                         
025972,004761: 32,2651           05033                           TC       SPSIN                                 
025973,004762: 32,2652           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
025974,004763: 32,2653           00006                           EXTEND                                         
025975,004764: 32,2654           70166                           MP       PUSHLOC                               
025976,004765: 32,2655           00006                           EXTEND                                         
025977,004766: 32,2656           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
025978,004767: 32,2657           20155                           DAS      MPAC                                  
025979,004768: 32,2660           31767                           CA       SAVECDUT   +1                         
025980,004769: 32,2661           05032                           TC       SPCOS                                 
025981,004770: 32,2662           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S.
025982,004771: 32,2663           00006                           EXTEND                                         
025983,004772: 32,2664           70166                           MP       PUSHLOC                               
025984,004773: 32,2665           00006                           EXTEND                                         
025985,004774: 32,2666           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
025986,004775: 32,2667           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
025987,004776: 32,2670           00006                           EXTEND                                         #  -SIN T, COS S COS T).
025988,004777: 32,2671           30155                           DCA      MPAC                                  
025989,004778: 32,2672           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025990,004779: 32,2673           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
025991,004780: 32,2674           34736                           CA       BIT14                                 
025992,004781: 32,2675           12676                           NOOP                                           
025993,004782: 32,2676           00006                           EXTEND                                         
025994,004783: 32,2677           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025995,004784: 32,2700           00003                           RELINT                                         
025996,004785: 32,2701           12551                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
025997,004786: 

Page 603

025999,004788:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026000,004789: 
026001,004790: 32,2702           31767        R29DPAS2           CA       SAVECDUT   +1                         
026002,004791: 32,2703           00006                           EXTEND                                         
026003,004792: 32,2704           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
026004,004793: 32,2705           53110                           DXCH     TANG                                  
026005,004794: 32,2706           41766                           CS       SAVECDUT                              
026006,004795: 32,2707           00006                           EXTEND                                         
026007,004796: 32,2710           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
026008,004797: 32,2711           21110                           DAS      TANG                                  #  RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026009,004798: 32,2712           40163                           CS       MODE                                  #  - SIN S)
026010,004799: 32,2713           00006                           EXTEND                                         
026011,004800: 32,2714           71766                           MP       SAVECDUT                              
026012,004801: 32,2715           00006                           EXTEND                                         
026013,004802: 32,2716           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
026014,004803: 32,2717           52155                           DXCH     MPAC                                  
026015,004804: 32,2720           30166                           CA       PUSHLOC                               
026016,004805: 32,2721           00006                           EXTEND                                         
026017,004806: 32,2722           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
026018,004807: 32,2723           20155                           DAS      MPAC                                  
026019,004808: 32,2724           40163                           CS       MODE                                  
026020,004809: 32,2725           00006                           EXTEND                                         
026021,004810: 32,2726           71767                           MP       SAVECDUT   +1                         
026022,004811: 32,2727           00006                           EXTEND                                         
026023,004812: 32,2730           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
026024,004813: 32,2731           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
026025,004814: 32,2732           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
026026,004815: 32,2733           00006                           EXTEND                                         
026027,004816: 32,2734           72775                           MP       RR29GAIN                              
026028,004817: 32,2735           57107                           XCH      TANG                                  #  STORE REFINED T CMD, GET RAW S CMD.
026029,004818: 32,2736           00006                           EXTEND                                         
026030,004819: 32,2737           72775                           MP       RR29GAIN                              
026031,004820: 32,2740           55110                           TS       TANG       +1                         #  STORE REFINED S CMD.
026032,004821: 

Page 604

026034,004823:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
026035,004824:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
026036,004825: 
026037,004826: 32,2741           34750        DGOOD?             CAF      BIT4                                  
026038,004827: 32,2742           00006                           EXTEND                                         
026039,004828: 32,2743           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
026040,004829: 32,2744           00004                           INHINT                                         #  (MAINLY FOR RROUT).
026041,004830: 32,2745           00006                           EXTEND                                         
026042,004831: 32,2746           12752                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
026043,004832: 
026044,004833: 32,2747           04616                           TC       BANKCALL                              
026045,004834: 32,2750           52306                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026046,004835: 32,2751           12770                           TCF      END29DOD                              
026047,004836: 
026048,004837: 32,2752           44742        R29LOKON           CS       DESIGBIT                              
026049,004838: 32,2753           70110                           MASK     RADMODES                              
026050,004839: 32,2754           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
026051,004840: 32,2755           44752                           CS       BIT2                                  
026052,004841: 32,2756           00006                           EXTEND                                         
026053,004842: 32,2757           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
026054,004843: 32,2760           34743                           CA       READRBIT                              
026055,004844: 32,2761           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
026056,004845: 32,2762           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
026057,004846: 32,2763           44776                           CS       SUPER110                              #  -96D + 100D = 4.
026058,004847: 32,2764           64777                           AD       1SEC                                  #  0 + 100D = 100D.
026059,004848: 32,2765           05203                           TC       WAITLIST                              
026060,004849: 32,2766  E7,1456                                  EBANK=   LOSCOUNT                              
026061,004850: 32,2766           03400 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
026062,004851: 
026063,004852: 32,2770           44740        END29DOD           CS       LOSCMBIT                              
026064,004853: 32,2771           70076                           MASK     FLAGWRD2                              
026065,004854: 32,2772           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
026066,004855: 32,2773           15155                           TCF      ENDOFJOB                              
026067,004856: 
026068,004857: 32,2774           00052        R29FXLOC           ADRES    INTB15+    -34D                       
026069,004858: 32,2775           56655        RR29GAIN           DEC      -.53624                               
026070,004859: 32,2776  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
026071,004860: 32,2776     1101               LOSSM              EQUALS   RRTARGET                              
026072,004861: 32,2776  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
026073,004862: 

Page 605

026075,004864:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026076,004865: 
026077,004866: 24,3400                                           BANK     24                                    
026078,004867: 24,2000                                           SETLOC   P20S                                  
026079,004868: 24,2000                                           BANK                                           
026080,004869: 
026081,004870: 24,3400                                           COUNT*   $$/R29                                
026082,004871: 
026083,004872: 24,3400  E7,1456                                  EBANK=   LOSCOUNT                              
026084,004873: 
026085,004874: 24,3400           37714        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
026086,004875: 24,3401           05072                           TC       NOVAC                                 
026087,004876: 24,3402  E7,1456                                  EBANK=   LOSCOUNT                              
026088,004877: 24,3402           03413 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
026089,004878: 
026090,004879: 24,3404           35000                           CA       2SECS                                 
026091,004880: 24,3405           05224                           TC       VARDELAY                              
026092,004881: 
026093,004882: 24,3406           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
026094,004883: 24,3407           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
026095,004884: 24,3410           10000                           CCS      A                                     
026096,004885: 24,3411           13400                           TCF      R29READ                               #  IT'S OK;  CALL IT AGAIN.
026097,004886: 24,3412           15261                           TCF      TASKOVER                              #  IT AIN'T;  WAIT FOR REDESIGNATE.
026098,004887: 
026099,004888: 24,3413           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
026100,004889: 24,3414           74741                           MASK     NR29FBIT                              
026101,004890: 24,3415           10000                           CCS      A                                     #  TEST "NOR29FLG".
026102,004891: 24,3416           13475                           TCF      ENDRRD29                              #  R29 IS NOW OVER, STOP AT ONCE.
026103,004892: 
026104,004893: 24,3417           30110                           CA       RADMODES                              
026105,004894: 24,3420           74752                           MASK     AUTOMBIT                              
026106,004895: 24,3421           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
026107,004896: 24,3422           13475                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
026108,004897: 
026109,004898: 24,3423           04616                           TC       BANKCALL                              
026110,004899: 24,3424           53103                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
026111,004900: 24,3425           04616                           TC       BANKCALL                              
026112,004901: 24,3426           17714                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026113,004902: 24,3427           13475                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
026114,004903: 

Page 606

026116,004905:                                                                                                  #  R29 RADAR READING CONTINUED.
026117,004906: 
026118,004907: 24,3430           53106                           DXCH     TIMEHOLD                              
026119,004908: 24,3431           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
026120,004909: 24,3432           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
026121,004910: 24,3433           00006                           EXTEND                                         
026122,004911: 24,3434           30036                           DCA      CDUT                                  
026123,004912: 24,3435           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026124,004913: 24,3436           00006                           EXTEND                                         
026125,004914: 24,3437           30034                           DCA      CDUY                                  
026126,004915: 24,3440           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026127,004916: 24,3441           30032                           CA       CDUX                                  
026128,004917: 24,3442           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026129,004918: 
026130,004919: 24,3443           04616        R29RANGE           TC       BANKCALL                              
026131,004920: 24,3444           53105                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
026132,004921: 24,3445           04616                           TC       BANKCALL                              
026133,004922: 24,3446           17714                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026134,004923: 24,3447           13466                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
026135,004924: 
026136,004925: 24,3450           00004                           INHINT                                         
026137,004926: 24,3451           53334                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026138,004927: 24,3452           53757                           DXCH     RM                                    
026139,004928: 24,3453           52155                           DXCH     MPAC                                  
026140,004929: 24,3454           53755                           DXCH     MKTIME                                
026141,004930: 24,3455           52157                           DXCH     MPAC       +2                         
026142,004931: 24,3456           53753                           DXCH     TANGNB                                
026143,004932: 24,3457           52161                           DXCH     MPAC       +4                         
026144,004933: 24,3460           53460                           DXCH     AIG                                   
026145,004934: 24,3461           30162                           CA       MPAC       +6                         
026146,004935: 24,3462           55461                           TS       AOG                                   
026147,004936: 24,3463           34753                           CA       ONE                                   
026148,004937: 24,3464           55462                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
026149,004938: 24,3465           15155                           TCF      ENDOFJOB                              
026150,004939: 
026151,004940: 24,3466           40101        R29RRR?            CS       FLAGWRD5                              
026152,004941: 24,3467           74742                           MASK     BIT10                                 
026153,004942: 24,3470           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
026154,004943: 24,3471           13475                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
026155,004944: 24,3472           05516                           TC       DOWNFLAG                              
026156,004945: 24,3473           00120                           ADRES    RNGSCFLG                              
026157,004946: 24,3474           13443                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
026158,004947: 
026159,004948: 24,3475           34755        ENDRRD29           CA       ZERO                                  #  TROUBLE MADE US COME HERE TO LEAVE THE
026160,004949: 24,3476           55462                           TS       TRKMKCNT                              #  RR-READING MODE.  DISCREDIT DOWNTEL.
026161,004950: 24,3477           05516                           TC       DOWNFLAG                              
026162,004951: 24,3500           00063                           ADRES    READRFLG                              
026163,004952: 24,3501           44736                           CS       BIT14                                 
026164,004953: 24,3502           00006                           EXTEND                                         

Page 607

026166,004955: 24,3503           03012                           WAND     CHAN12                                #  REMOVE TRACK-ENABLE DISCRETE.
026167,004956: 24,3504           15155                           TCF      ENDOFJOB                              
026168,004957: 

Page 608

026170,004959:                                                                                                  #  W-MATRIX MONITOR
026171,004960: 
026172,004961: 31,2007                                           BANK     31                                    
026173,004962: 31,2000                                           SETLOC   VB67                                  
026174,004963: 31,2000                                           BANK                                           
026175,004964: 31,2007                                           COUNT*   $$/EXTVB                              
026176,004965: 
026177,004966: 31,2007  E4,1600                                  EBANK=   WWPOS                                 
026178,004967: 
026179,004968: 31,2007           06037        V67CALL            TC       INTPRET                               
026180,004969: 31,2010           77624                           CALL                                           
026181,004970: 31,2011           62120                                    V67WW                                 
026182,004971: 31,2012           77776                           EXIT                                           
026183,004972: 31,2013           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
026184,004973: 31,2014           31601                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
026185,004974: 31,2015           53607                           DXCH     WWBIAS     +2                         
026186,004975: 31,2016           00006                           EXTEND                                         
026187,004976: 31,2017           31603                           DCA      WWVEL                                 
026188,004977: 31,2020           53611                           DXCH     WWBIAS     +4                         
026189,004978: 31,2021           00006                           EXTEND                                         
026190,004979: 31,2022           31605                           DCA      WWBIAS                                
026191,004980: 31,2023           53613                           DXCH     WWBIAS     +6                         
026192,004981: 31,2024           32143        V06N99DS           CAF      V06N99                                
026193,004982: 31,2025           04616                           TC       BANKCALL                              
026194,004983: 31,2026           20334                           CADR     GOXDSPF                               
026195,004984: 31,2027           15472                           TCF      ENDEXT                                
026196,004985: 31,2030           12032                           TCF      V6N99PRO                              
026197,004986: 31,2031           12024                           TCF      V06N99DS                              
026198,004987: 31,2032           22007        V6N99PRO           ZL                                             
026199,004988: 31,2033           34756                           CA       FIVE                                  
026200,004989: 31,2034           54002        N99LOOP            TS       Q                                     
026201,004990: 31,2035           50002                           INDEX    Q                                     
026202,004991: 31,2036           41600                           CS       WWPOS                                 
026203,004992: 31,2037           50002                           INDEX    Q                                     
026204,004993: 31,2040           61606                           AD       WWPOS      +6                         
026205,004994: 31,2041           26001                           ADS      L                                     
026206,004995: 31,2042           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026207,004996: 31,2043           12034                           TCF      N99LOOP                               
026208,004997: 31,2044           22000                           LXCH     A                                     
026209,004998: 31,2045           00006                           EXTEND                                         
026210,004999: 31,2046           12051                           BZF      V06N9933                              
026211,005000: 31,2047           05504                           TC       UPFLAG                                
026212,005001: 31,2050           00160                           ADRES    V67FLAG                               
026213,005002: 
026214,005003: 31,2051           06037        V06N9933           TC       INTPRET                               
026215,005004: 31,2052           77414                           BON      EXIT                                  
026216,005005: 31,2053           03707                                    V67FLAG                               
026217,005006: 31,2054           62056                                    +2                                    
026218,005007: 31,2055           15472                           TCF      ENDEXT                                
026219,005008: 31,2056           77745                           DLOAD                                          

Page 609

026221,005010: 31,2057           02201                                    WWPOS                                 
026222,005011: 31,2060           72412                           SL4      SL1                                   
026223,005012: 31,2061           14001                           STODL    0D                                    
026224,005013: 31,2062           02203                                    WWVEL                                 
026225,005014: 31,2063           14003                           STODL    2D                                    
026226,005015: 31,2064           02205                                    WWBIAS                                
026227,005016: 31,2065           77661                           SL                                             #  SHIFT FROM NOUN SCALING (B-5) TO
026228,005017: 31,2066           20213                                    10D                                   #  INTERNAL SCALING (B+5)
026229,005018: 31,2067           00005                           STORE    4D                                    
026230,005019: 31,2070           72014                           BON      LXA,1                                 
026231,005020: 31,2071           04307                                    SURFFLAG                              
026232,005021: 31,2072           62102                                    V67SURF                               
026233,005022: 31,2073           00000                                    0D                                    
026234,005023: 31,2074           72130                           SXA,1    LXA,1                                 
026235,005024: 31,2075           02000                                    WRENDPOS                              
026236,005025: 31,2076           00002                                    2D                                    
026237,005026: 31,2077           52130                           SXA,1    GOTO                                  
026238,005027: 31,2100           02001                                    WRENDVEL                              
026239,005028: 31,2101           62110                                    V67CLRF                               
026240,005029: 31,2102           66150        V67SURF            LXA,1    SXA,1                                 
026241,005030: 31,2103           00000                                    0D                                    
026242,005031: 31,2104           02006                                    WSURFPOS                              
026243,005032: 31,2105           66150                           LXA,1    SXA,1                                 
026244,005033: 31,2106           00002                                    2D                                    
026245,005034: 31,2107           02007                                    WSURFVEL                              
026246,005035: 31,2110           66150        V67CLRF            LXA,1    SXA,1                                 
026247,005036: 31,2111           00004                                    4D                                    
026248,005037: 31,2112           02003                                    WTRUN                                 
026249,005038: 31,2113           77730                           SXA,1                                          
026250,005039: 31,2114           02002                                    WSHAFT                                
026251,005040: 31,2115           77414                           CLEAR    EXIT                                  
026252,005041: 31,2116           02676                                    RENDWFLG                              
026253,005042: 31,2117           15472                           TCF      ENDEXT                                
026254,005043: 31,2120           40020        V67WW              STQ      BOV                                   
026255,005044: 31,2121           00051                                    S2                                    
026256,005045: 31,2122           62123                                    +1                                    
026257,005046: 31,2123           45014                           CLEAR    CALL                                  
026258,005047: 31,2124           03667                                    V67FLAG                               
026259,005048: 31,2125           27414                                    INTSTALL                              
026260,005049: 31,2126           71331                           SSP      DLOAD                                 
026261,005050: 31,2127           00051                                    S1                                    
026262,005051: 31,2130           00006                           DEC      6          B-14                       
026263,005052: 31,2131           06522                                    ZEROVECS                              
026264,005053: 31,2132           02201                           STORE    WWPOS                                 
026265,005054: 31,2133           02203                           STORE    WWVEL                                 
026266,005055: 31,2134           02205                           STORE    WWBIAS                                
026267,005056: 31,2135           77770                           AXT,1                                          
026268,005057: 31,2136           00066                           DEC      54         B-14                       
026269,005058: 31,2137           47573        NXPOSVEL           VLOAD*   VSQ                                   
026270,005059: 31,2140           02467                                    W          +54D,1                     

Page 610

026272,005061: 31,2141           77650                           GOTO                                           
026273,005062: 31,2142           60002                                    ADDPOS                                
026274,005063: 31,2143           01543        V06N99             VN       0699                                  
026275,005064: 
026276,005065: 30,2000                                           SETLOC   VB67A                                 
026277,005066: 30,2000                                           BANK                                           
026278,005067: 30,2002                                           COUNT*   $$/EXTVB                              
026279,005068: 
026280,005069: 30,2002           77615        ADDPOS             DAD                                            
026281,005070: 30,2003           02201                                    WWPOS                                 
026282,005071: 30,2004           02201                           STORE    WWPOS                                 
026283,005072: 30,2005           47573                           VLOAD*   VSQ                                   
026284,005073: 30,2006           02555                                    W          +108D,1                    
026285,005074: 30,2007           77615                           DAD                                            
026286,005075: 30,2010           02203                                    WWVEL                                 
026287,005076: 30,2011           02203                           STORE    WWVEL                                 
026288,005077: 30,2012           47573                           VLOAD*   VSQ                                   
026289,005078: 30,2013           02643                                    W          +162D,1                    
026290,005079: 30,2014           77615                           DAD                                            
026291,005080: 30,2015           02205                                    WWBIAS                                
026292,005081: 30,2016           02205                           STORE    WWBIAS                                
026293,005082: 30,2017           75500                           TIX,1    SQRT                                  
026294,005083: 30,2020           62137                                    NXPOSVEL                              
026295,005084: 30,2021           77661                           SR                                             #  SHIFT FROM INTERNAL SCALING (B+5) TO
026296,005085: 30,2022           20613                                    10D                                   #  NOUN SCALING (B-5)
026297,005086: 30,2023           16205                           STODL    WWBIAS                                
026298,005087: 30,2024           02203                                    WWVEL                                 
026299,005088: 30,2025           77766                           SQRT                                           
026300,005089: 30,2026           16203                           STODL    WWVEL                                 
026301,005090: 30,2027           02201                                    WWPOS                                 
026302,005091: 30,2030           77766                           SQRT                                           
026303,005092: 30,2031           02201                           STORE    WWPOS                                 
026304,005093: 30,2032           52000                           BOV      GOTO                                  
026305,005094: 30,2033           60035                                    +2                                    
026306,005095: 30,2034           60042                                    V67XXX                                
026307,005096: 30,2035           77745                           DLOAD                                          
026308,005097: 30,2036           06530                                    DPPOSMAX                              
026309,005098: 30,2037           02201                           STORE    WWPOS                                 
026310,005099: 30,2040           02203                           STORE    WWVEL                                 
026311,005100: 30,2041           02205                           STORE    WWBIAS                                
026312,005101: 30,2042           45345        V67XXX             DLOAD    DSU                                   
026313,005102: 30,2043           02201                                    WWPOS                                 
026314,005103: 30,2044           20060                                    FT99999                               
026315,005104: 30,2045           71240                           BMN      DLOAD                                 
026316,005105: 30,2046           60051                                    +3                                    
026317,005106: 30,2047           20060                                    FT99999                               
026318,005107: 30,2050           02201                           STORE    WWPOS                                 
026319,005108: 30,2051           66150                           LXA,1    SXA,1                                 
026320,005109: 30,2052           00051                                    S2                                    
026321,005110: 30,2053           00052                                    QPRET                                 

Page 611

026323,005112: 30,2054           77776                           EXIT                                           
026324,005113: 30,2055           04635                           TC       POSTJUMP                              
026325,005114: 30,2056           27425                           CADR     INTWAKE                               
026326,005115: 
026327,005116: 30,2057           01670 17000  FT99999            2DEC     30479      B-19                       
026328,005117: 

Page 612

026330,005119: 25,3607                                           BANK     25                                    
026331,005120: 25,2000                                           SETLOC   RADARUPT                              
026332,005121: 25,2000                                           BANK                                           
026333,005122: 25,3607                                           COUNT*   $$/RRUPT                              
026334,005123: 
026335,005124: 25,3607  E7,1456                                  EBANK=   LOSCOUNT                              
026336,005125: 
026337,005126: 25,3607           34753        R12LITES           CA       ONE                                   
026338,005127: 25,3610           71303                           MASK     IMODES33                              
026339,005128: 25,3611           10000                           CCS      A                                     
026340,005129: 25,3612           14707                           TCF      ISWRETRN                              
026341,005130: 
026342,005131: 25,3613           03630                           TC       HLIGHT                                
026343,005132: 25,3614           03625                           TC       HLIGHT     -3                         
026344,005133: 25,3615           14707                           TCF      ISWRETRN                              
026345,005134: 
026346,005135: 25,3616           34753        RADLITES           CA       BIT1                                  
026347,005136: 25,3617           71303                           MASK     IMODES33                              
026348,005137: 25,3620           10000                           CCS      A                                     
026349,005138: 25,3621           00002                           TC       Q                                     
026350,005139: 
026351,005140: 25,3622           44747                           CS       BIT5                                  
026352,005141: 25,3623           60061                           AD       ITEMP1                                
026353,005142: 25,3624           10000                           CCS      A                                     
026354,005143: 25,3625           44753                           CS       ONE                                   
026355,005144: 25,3626           13664                           TCF      VLIGHT                                
026356,005145: 
026357,005146: 25,3627           14570                           TCF      RRTRKF                                
026358,005147: 
026359,005148: 25,3630           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
026360,005149: 
026361,005150: 25,3631           34747                           CA       HLITE                                 
026362,005151: 25,3632           54001                           TS       L                                     
026363,005152: 
026364,005153: 25,3633           30107                           CA       FLGWRD11                              
026365,005154: 25,3634           74751                           MASK     SCABBIT                               
026366,005155: 25,3635           10000                           CCS      A                                     
026367,005156: 25,3636           13656                           TCF      ONLITES                               
026368,005157: 25,3637           34747                           CA       LRALTBIT                              
026369,005158: 25,3640           70110        BOTHLITS           MASK     RADMODES                              
026370,005159: 25,3641           10000                           CCS      A                                     
026371,005160: 25,3642           13656                           TCF      ONLITES                               
026372,005161: 
026373,005162: 25,3643           30107                           CA       FLGWRD11                              
026374,005163: 25,3644           50065                           INDEX    ITEMP5                                
026375,005164: 25,3645           74753                           MASK     HFLSHBIT                              
026376,005165: 25,3646           10000                           CCS      A                                     
026377,005166: 25,3647           14570                           TCF      RRTRKF                                

Page 613

026379,005168: 25,3650           00006        LITIT              EXTEND                                         
026380,005169: 25,3651           22066                           QXCH     ITEMP6                                
026381,005170: 25,3652           04602                           TC       TRKFLON    +1                         
026382,005171: 
026383,005172: 25,3653           00006                           EXTEND                                         
026384,005173: 25,3654           22066                           QXCH     ITEMP6                                
026385,005174: 25,3655           14570                           TCF      RRTRKF                                
026386,005175: 
026387,005176: 
026388,005177: 25,3656           50065        ONLITES            INDEX    ITEMP5                                
026389,005178: 25,3657           44753                           CS       HFLSHBIT                              
026390,005179: 25,3660           70107                           MASK     FLGWRD11                              
026391,005180: 25,3661           54107                           TS       FLGWRD11                              
026392,005181: 
026393,005182: 25,3662           30001                           CA       L                                     
026394,005183: 25,3663           13650                           TCF      LITIT                                 
026395,005184: 25,3664           54065        VLIGHT             TS       ITEMP5                                
026396,005185: 25,3665           34751                           CA       VLITE                                 
026397,005186: 25,3666           54001                           TS       L                                     
026398,005187: 25,3667           34744                           CA       BIT8                                  
026399,005188: 25,3670           13640                           TCF      BOTHLITS                              
026400,005189: 
026401,005190: 25,3671     4747               HLITE              EQUALS   BIT5                                  
026402,005191: 25,3671     4751               VLITE              EQUALS   BIT3                                  
026403,005192: 

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