Source Code

These source-code files derive from a printout of Luminary 116 (the Apollo 12 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Ron Burkey, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071
	19:09 AUG. 11,1969
Note that the date is the date of the printout, not the date of the program revision.

021114,000002:                                                                                                  ## Copyright:   Public domain.
021115,000003:                                                                                                  ## Filename:    P20-P25.agc
021116,000004:                                                                                                  ## Purpose:     A section of Luminary revision 116.
021117,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
021118,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 12.
021119,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
021120,000008:                                                                                                  ##              that the code format has been changed to conform to the
021121,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
021122,000010:                                                                                                  ##              original YUL assembler.
021123,000011:                                                                                                  ## Reference:   pp. 494-616
021124,000012:                                                                                                  ## Assembler:   yaYUL
021125,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
021126,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
021127,000015:                                                                                                  ## Mod history: 2017-01-22 MAS  Created from Luminary 99.
021128,000016:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
021129,000017:                                                                                                  ##              2017-03-09 HG   Transcribed
021130,000018:                                                                                                  ##              2017-03-13 RSB  Proofed comment text via 3-way diff vs
021131,000019:                                                                                                  ##                              Luminary 99 and 131.
021132,000020:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
021133,000021:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
021134,000022:                                                                                                  ##              2017-03-19 HG   Fix operator CALL  --> VLOAD
021135,000023:                                                                                                  ##                              Fix statement CA BIT1  --> CS BIT5
021136,000024:                                                                                                  ##                              Fix operand   ENDRRD29 --> ENDR29RD
021137,000025: 
021138,000026: 

Page 494

021140,000028:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
021141,000029:                                                                                                  #  PROGRAM DESCRIPTION
021142,000030:                                                                                                  #  MOD NO - 2
021143,000031:                                                                                                  #  BY  P. VOLANTE
021144,000032:                                                                                                  #  FUNCTIONAL DESCRIPTION
021145,000033: 
021146,000034:                                                                                                  #    THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021147,000035:                                                                                                  #  STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021148,000036:                                                                                                  #  THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021149,000037:                                                                                                  #  ON THE BASIS OF THE RR TRACKING DATA.
021150,000038:                                                                                                  #  CALLING SEQUENCE -
021151,000039: 
021152,000040:                                                                                                  #  ASTRONAUT REQUEST THROUGH DSKY V37E20E
021153,000041:                                                                                                  #  SUBROUTINES CALLED
021154,000042:                                                                                                  #    R02BOTH (IMU STATUS CHECK)               FLAGUP
021155,000043:                                                                                                  #    GOFLASH (PINBALL-DISPLAY)                FLAGDOWN
021156,000044:                                                                                                  #    R23LEM  (MANUAL ACQUISITION)             BANKCALL
021157,000045:                                                                                                  #    LS201   (LOS DETERMINATION)              TASKOVER
021158,000046:                                                                                                  #    LS202   (RANGE LIMIT TEST)
021159,000047:                                                                                                  #    R61LEM  (PREFERRED TRACKING ATTITUDE)
021160,000048:                                                                                                  #    R21LEM  (RR DESIGNATE)                   ENDOFJOB
021161,000049:                                                                                                  #    R22LEM  (DATA READ)                      GOPERF1
021162,000050:                                                                                                  #    R31LEM  (RENDEZVOUS PARAMETER DISPLAY)
021163,000051:                                                                                                  #    PRIOLARM (PRIORITY DISPLAY)
021164,000052:                                                                                                  #  NORMAL EXIT MODES-
021165,000053:                                                                                                  #    P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021166,000054:                                                                                                  #  PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021167,000055:                                                                                                  #  ALARM OR ABORT EXIT MODES-
021168,000056:                                                                                                  #    RANGE GREATER THAN 400 NM DISPLAY
021169,000057:                                                                                                  #  OUTPUT
021170,000058:                                                                                                  #    TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021171,000059:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021172,000060:                                                                                                  #  FLAGS SET + RESET
021173,000061:                                                                                                  #    SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
021174,000062:                                                                                                  #  DEBRIS
021175,000063:                                                                                                  #    CENTRALS-A,Q,L
021176,000064: 25,2073  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
021177,000065: 
021178,000066: 33,2045                                           BANK     33                                    
021179,000067: 24,2000                                           SETLOC   P20S                                  
021180,000068: 24,2000                                           BANK                                           
021181,000069: 
021182,000070: 24,2000  E7,1456                                  EBANK=   LOSCOUNT                              
021183,000071: 24,2000                                           COUNT*   $$/P20                                
021184,000072: 24,2000  24,2000               PROG22             =        PROG20                                
021185,000073: 24,2000           05327        PROG20             TC       2PHSCHNG                              
021186,000074: 24,2001           00004                           OCT      4                                     
021187,000075: 24,2002           05022                           OCT      05022                                 
021188,000076: 24,2003           26000                           OCT      26000                                 #  PRIORITY 26
021189,000077: 24,2004           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
021190,000078: 

Page 495

021192,000080: 24,2005           02007                           TC       ORBCHGO                               #  YES
021193,000081: 24,2006           02036                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
021194,000082: 24,2007           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
021195,000083: 24,2010           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
021196,000084: 24,2011           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
021197,000085: 24,2012           55144                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
021198,000086: 24,2013           34363                           CAF      OCT00012                              
021199,000087: 24,2014           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
021200,000088: 24,2015           20634                           CADR     GOPERF4                               
021201,000089: 24,2016           06001                           TC       GOTOPOOH                              #  TERMINATE
021202,000090: 24,2017           02021                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
021203,000091: 24,2020           02013                           TC       -5                                    #  R2 LOADED THRU DSKY
021204,000092: 24,2021           44753        ORBCHG1            CS       ONE                                   
021205,000093: 24,2022           61144                           AD       OPTION2                               
021206,000094: 24,2023           00006                           EXTEND                                         
021207,000095: 24,2024           12040                           BZF      PROG20A                               
021208,000096: 24,2025           32311                           CAF      V06N33*                               
021209,000097: 24,2026           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
021210,000098: 24,2027           20477                           CADR     GOFLASH                               #  TIME OF LAUNCH
021211,000099: 24,2030           06001                           TC       GOTOPOOH                              #  TERMINATE
021212,000100: 24,2031           02033                           TC       ORBCHG2                               #  PROCEED VALUES OK
021213,000101: 24,2032           02025                           TC       -5                                    #  TIME LOADED THRU DSKY
021214,000102: 24,2033           06042        ORBCHG2            TC       INTPRET                               
021215,000103: 24,2034           77650                           GOTO                                           
021216,000104: 24,2035           64217                                    ORBCHG3                               
021217,000105: 32,2217                                           BANK     32                                    
021218,000106: 32,2000                                           SETLOC   P20S4                                 
021219,000107: 32,2000                                           BANK                                           
021220,000108: 32,2217                                           COUNT*   $$/P20                                
021221,000109: 
021222,000110: 32,2217           77624        ORBCHG3            CALL                                           
021223,000111: 32,2220           27412                                    INTSTALL                              
021224,000112: 32,2221           77745                           DLOAD                                          
021225,000113: 32,2222           03442                                    TIG                                   
021226,000114: 32,2223           03661                           STORE    LNCHTM                                
021227,000115: 32,2224           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
021228,000116: 32,2225           43014                           CLEAR    CLEAR                                 
021229,000117: 32,2226           01674                                    VINTFLAG                              #  LM INTEGRATION
021230,000118: 32,2227           01673                                    INTYPFLG                              #  PRECISION - ENCKE
021231,000119: 32,2230           43014                           CLEAR    CLEAR                                 
021232,000120: 32,2231           01676                                    DIM0FLAG                              #  NO W-MATRIX
021233,000121: 32,2232           01675                                    D6OR9FLG                              
021234,000122: 32,2233           77624                           CALL                                           
021235,000123: 32,2234           27135                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
021236,000124: 32,2235           77624                           CALL                                           
021237,000125: 32,2236           11226                                    GRP2PC                                
021238,000126: 32,2237           77775                           VLOAD                                          
021239,000127: 32,2240           00017                                    RATT1                                 
021240,000128: 32,2241           17631                           STODL    RSUBL                                 #  SAVE LM POSITION
021241,000129: 32,2242           00015                                    TAT                                   
021242,000130: 

Page 496

021244,000132: 32,2243           34041                           STCALL   TDEC1                                 
021245,000133: 32,2244           27412                                    INTSTALL                              
021246,000134: 32,2245           43014                           SET      CLEAR                                 
021247,000135: 32,2246           01474                                    VINTFLAG                              #  CSM INTEGRATION
021248,000136: 32,2247           01673                                    INTYPFLG                              
021249,000137: 32,2250           43014                           CLEAR    BOFF                                  
021250,000138: 32,2251           01676                                    DIM0FLAG                              
021251,000139: 32,2252           02756                                    RENDWFLG                              #  W MATRIX VALID
021252,000140: 32,2253           64257                                    NOWMATX                               #  NO
021253,000141: 32,2254           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
021254,000142: 32,2255           01476                                    DIM0FLAG                              
021255,000143: 32,2256           01475                                    D6OR9FLG                              
021256,000144: 32,2257           77624        NOWMATX            CALL                                           
021257,000145: 32,2260           27135                                    INTEGRV                               #  CSM INTEGRATION
021258,000146: 32,2261           77624                           CALL                                           
021259,000147: 32,2262           11226                                    GRP2PC                                
021260,000148: 32,2263           77775                           VLOAD                                          
021261,000149: 32,2264           00025                                    VATT1                                 
021262,000150: 32,2265           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
021263,000151: 32,2266           00017                                    RATT1                                 
021264,000152: 32,2267           01101                           STORE    RSUBC                                 #  SAVE CSM POSITION
021265,000153: 32,2270           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021266,000154: 32,2271           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
021267,000155: 32,2272           24025                           STOVL    20D                                   #  SAVE NSUB1
021268,000156: 32,2273           03631                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
021269,000157: 32,2274           53435                           VXV      UNIT                                  #  PLANE CHANGE
021270,000158: 32,2275           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
021271,000159: 32,2276           27637                           STOVL    UCSM                                  
021272,000160: 32,2277           01101                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
021273,000161: 32,2300           50256                           UNIT     DOT                                   #  AND RSUBC
021274,000162: 32,2301           03637                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
021275,000163: 32,2302           77752                           SL1                                            
021276,000164: 32,2303           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
021277,000165: 32,2304           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
021278,000166: 32,2305           06514                                    ONEB-2                                
021279,000167: 32,2306           77766                           SQRT                                           
021280,000168: 32,2307           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
021281,000169: 32,2310           01101                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
021282,000170: 32,2311           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
021283,000171: 32,2312           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
021284,000172: 32,2313           77676                           VCOMP                                          
021285,000173: 32,2314           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
021286,000174: 32,2315           45014                           CLEAR    CALL                                  
021287,000175: 32,2316           03666                                    RVSW                                  
021288,000176: 32,2317           24732                                    TIMETHET                              
021289,000177: 32,2320           77676                           VCOMP                                          
021290,000178: 32,2321           03645                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
021291,000179: 32,2322           77745                           DLOAD                                          
021292,000180: 32,2323           00037                                    T                                     
021293,000181: 32,2324           27663                           STOVL    TRANSTM                               #  TRANSFER TIME
021294,000182: 

Page 497

021296,000184: 32,2325           03645                                    NEWVEL                                
021297,000185: 32,2326           77646                           ABVAL                                          
021298,000186: 32,2327           24025                           STOVL    20D                                   
021299,000187: 32,2330           00001                                    0D                                    
021300,000188: 32,2331           03653                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
021301,000189: 32,2332           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021302,000190: 32,2333           03631                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
021303,000191: 32,2334           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
021304,000192: 32,2335           03653                                    NEWPOS                                #  ORBITAL PLANE
021305,000193: 32,2336           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021306,000194: 32,2337           00025                                    20D                                   
021307,000195: 32,2340           37665                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
021308,000196: 32,2341           11226                                    GRP2PC                                
021309,000197: 32,2342           77624                           CALL                                           
021310,000198: 32,2343           27412                                    INTSTALL                              
021311,000199: 32,2344           44345                           DLOAD    BDSU                                  
021312,000200: 32,2345           03663                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
021313,000201: 32,2346           03661                                    LNCHTM                                
021314,000202: 32,2347           25517                           STOVL    TET                                   
021315,000203: 32,2350           03653                                    NEWPOS                                
021316,000204: 32,2351           01535                           STORE    RCV                                   
021317,000205: 32,2352           25503                           STOVL    RRECT                                 
021318,000206: 32,2353           03665                                    NCSMVEL                               
021319,000207: 32,2354           35511                           STCALL   VRECT                                 
021320,000208: 32,2355           27707                                    MINIRECT                              
021321,000209: 32,2356           45174                           AXT,2    CALL                                  
021322,000210: 32,2357           00002                                    2                                     
021323,000211: 32,2360           26662                                    ATOPCSM                               
021324,000212: 32,2361           77624                           CALL                                           
021325,000213: 32,2362           27421                                    INTWAKE0                              
021326,000214: 32,2363           77776                           EXIT                                           
021327,000215: 32,2364           04616                           TC       BANKCALL                              
021328,000216: 32,2365           50040                           CADR     PROG20A                               
021329,000217: 24,2036                                           BANK     24                                    
021330,000218: 24,2000                                           SETLOC   P20S                                  
021331,000219: 24,2000                                           BANK                                           
021332,000220: 24,2036                                           COUNT*   $$/P20                                
021333,000221: 
021334,000222: 24,2036           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG- LM STATE VECTOR
021335,000223: 24,2037           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
021336,000224: 24,2040           04616        PROG20A            TC       BANKCALL                              
021337,000225: 24,2041           11236                           CADR     R02BOTH                               
021338,000226: 24,2042           05504                           TC       UPFLAG                                
021339,000227: 24,2043           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
021340,000228: 24,2044           05504                           TC       UPFLAG                                
021341,000229: 24,2045           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021342,000230: 24,2046           05504                           TC       UPFLAG                                
021343,000231: 24,2047           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
021344,000232: 24,2050           05516                           TC       DOWNFLAG                              
021345,000233: 24,2051           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF
021346,000234: 

Page 498

021348,000236: 24,2052           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
021349,000237: 24,2053           00040                           ADRES    ACMODFLG                              
021350,000238: 24,2054           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
021351,000239: 24,2055           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
021352,000240: 24,2056           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
021353,000241: 24,2057           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
021354,000242: 24,2060           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
021355,000243: 24,2061           00041                           ADRES    LOSCMFLG                              
021356,000244: 24,2062           06011                           TC       CLRADMOD                              
021357,000245: 24,2063           05353        P20LEM1            TC       PHASCHNG                              
021358,000246: 24,2064           04022                           OCT      04022                                 
021359,000247: 24,2065           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
021360,000248: 24,2066           55462                           TS       MARKCTR                               
021361,000249: 24,2067           06042                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
021362,000250: 24,2070           77634                           RTB                                            
021363,000251: 24,2071           21574                                    LOADTIME                              
021364,000252: 24,2072           34041                           STCALL   TDEC1                                 
021365,000253: 24,2073           51255                                    LPS20.1                               
021366,000254: 24,2074           77624                           CALL                                           
021367,000255: 24,2075           53550                                    LPS20.2                               #  TEST RANGE R/UTINE
021368,000256: 24,2076           77776                           EXIT                                           
021369,000257: 24,2077           50154                           INDEX    MPAC                                  
021370,000258: 24,2100           02101                           TC       +1                                    
021371,000259: 24,2101           02111                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
021372,000260: 24,2102           32305        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
021373,000261: 24,2103           04616                           TC       BANKCALL                              
021374,000262: 24,2104           21563                           CADR     PRIOLARM                              
021375,000263: 24,2105           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021376,000264: 24,2106           02102                           TC       -4                                    #  PROC (ILLEGAL
021377,000265: 24,2107           02063                           TC       P20LEM1                               #  ENTER RECYCLE
021378,000266: 24,2110           05155                           TC       ENDOFJOB                              
021379,000267: 
021380,000268: 
021381,000269: 24,2111           05353        P20LEMA            TC       PHASCHNG                              
021382,000270: 24,2112           04022                           OCT      04022                                 
021383,000271: 24,2113           02670                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
021384,000272: 24,2114           02117                           TC       P20LEMB                               
021385,000273: 24,2115           04616                           TC       BANKCALL                              
021386,000274: 24,2116           46116                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
021387,000275: 24,2117           05353        P20LEMB            TC       PHASCHNG                              
021388,000276: 24,2120           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
021389,000277: 24,2121           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
021390,000278: 24,2122           37717                           CAF      PRIO26                                #  RESTORE PRIORITY 26
021391,000279: 24,2123           05146                           TC       PRIOCHNG                              
021392,000280: 24,2124           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
021393,000281: 24,2125           74747                           MASK     TRACKBIT                              
021394,000282: 24,2126           00006                           EXTEND                                         
021395,000283: 24,2127           12232                           BZF      P20LEMWT                              #   BRANCH - NO - WAIT FOR IT TO BE SET
021396,000284: 24,2130           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
021397,000285: 24,2131           00006                           EXTEND                                         
021398,000286: 

Page 499

021400,000288: 24,2132           02033                           RAND     CHAN33                                
021401,000289: 24,2133           00006                           EXTEND                                         
021402,000290: 24,2134           12170                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
021403,000291: 
021404,000292: 
021405,000293: 24,2135           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
021406,000294: 24,2136           61010                           AD       MODREG                                #  MAJOR MODE IS 20
021407,000295: 24,2137           00006                           EXTEND                                         
021408,000296: 24,2140           12153                           BZF      P20LEMB6                              #  BRANCH - YES-OK TO DO PLEASE PERFORM
021409,000297: 
021410,000298: 
021411,000299: 24,2141           67751                           AD       NEG2                                  #  ALSO CHECK FOR P22
021412,000300: 24,2142           00006                           EXTEND                                         
021413,000301: 24,2143           12153                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
021414,000302: 24,2144           32307                           CAF      ALRM514                               #  TRACK FLAG SET-FLASH PRIORITY ALARM 514-
021415,000303: 24,2145           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
021416,000304: 24,2146           21563                           CADR     PRIOLARM                              
021417,000305: 24,2147           06025                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
021418,000306: 24,2150           02117                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
021419,000307: 24,2151           02117                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
021420,000308: 24,2152           05155                           TC       ENDOFJOB                              
021421,000309: 24,2153           32306        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
021422,000310: 24,2154           04616                           TC       BANKCALL                              
021423,000311: 24,2155           20624                           CADR     GOPERF1                               
021424,000312: 24,2156           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021425,000313: 24,2157           02117                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021426,000314: 24,2160           02670                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
021427,000315: 24,2161           02166                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED-TURN ON OPR ERROR
021428,000316: 24,2162           03136                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
021429,000317: 
021430,000318: 
021431,000319: 24,2163           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
021432,000320: 24,2164           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
021433,000321: 24,2165           02117                           TC       P20LEMB                               #  RR AUTO MODE
021434,000322: 
021435,000323: 
021436,000324: 24,2166           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
021437,000325: 24,2167           02117                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
021438,000326: 
021439,000327: 
021440,000328: 24,2170           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021441,000329: 24,2171           74737                           MASK     RCDU0BIT                              
021442,000330: 24,2172           00006                           EXTEND                                         
021443,000331: 24,2173           12205                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
021444,000332: 24,2174           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
021445,000333: 24,2175           70076                           MASK     FLAGWRD2                              
021446,000334: 24,2176           00006                           EXTEND                                         
021447,000335: 24,2177           12211                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
021448,000336: 24,2200           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
021449,000337: 24,2201           00037                           ADRES    SRCHOPTN                              
021450,000338: 

Page 500

021452,000340: 24,2202           05516                           TC       DOWNFLAG                              
021453,000341: 24,2203           00040                           ADRES    ACMODFLG                              
021454,000342: 24,2204           02232                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021455,000343: 
021456,000344: 
021457,000345: 24,2205           32304        P20LEMB4           CAF      250DEC                                
021458,000346: 24,2206           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021459,000347: 24,2207           01736                           CADR     DELAYJOB                              #  ZEROED-THEN GO BACK AND CHECK AGAIN
021460,000348: 24,2210           02170                           TC       P20LEMB3                              
021461,000349: 
021462,000350: 
021463,000351: 24,2211           06042        P20LEMC3           TC       INTPRET                               
021464,000352: 24,2212           77634                           RTB                                            
021465,000353: 24,2213           21574                                    LOADTIME                              
021466,000354: 24,2214           34041                           STCALL   TDEC1                                 
021467,000355: 24,2215           50312                                    UPPSV                                 
021468,000356: 24,2216           77776        P20LEMC4           EXIT                                           
021469,000357: 24,2217           05353        P20LEMC            TC       PHASCHNG                              
021470,000358: 24,2220           04022                           OCT      04022                                 
021471,000359: 24,2221           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
021472,000360: 24,2222           74745                           MASK     RNDVZBIT                              
021473,000361: 24,2223           00006                           EXTEND                                         
021474,000362: 24,2224           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
021475,000363: 24,2225           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET  (BIT 5 FLAGWORD 1)
021476,000364: 24,2226           74747                           MASK     TRACKBIT                              
021477,000365: 24,2227           00006                           EXTEND                                         
021478,000366: 24,2230           12264                           BZF      P20LEMD                               #  BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
021479,000367: 24,2231           02675        P20LEMF            TC       R21LEM                                
021480,000368: 
021481,000369: 
021482,000370: 24,2232           32304        P20LEMWT           CAF      250DEC                                
021483,000371: 24,2233           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
021484,000372: 24,2234           02244                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
021485,000373: 24,2235           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021486,000374: 24,2236           74747                           MASK     TRACKBIT                              
021487,000375: 24,2237           00006                           EXTEND                                         
021488,000376: 24,2240           15155                           BZF      ENDOFJOB                              #  NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
021489,000377: 24,2241           05353        P20LMWT1           TC       PHASCHNG                              
021490,000378: 24,2242           40072                           OCT      40072                                 
021491,000379: 24,2243           05155                           TC       ENDOFJOB                              
021492,000380: 
021493,000381: 
021494,000382: 24,2244           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
021495,000383: 24,2245           74745                           MASK     RNDVZBIT                              
021496,000384: 24,2246           00006                           EXTEND                                         
021497,000385: 24,2247           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
021498,000386: 24,2250           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021499,000387: 24,2251           74747                           MASK     TRACKBIT                              
021500,000388: 24,2252           00006                           EXTEND                                         
021501,000389: 24,2253           12261                           BZF      P20LEMC2                              #  NO-DONT SCHEDULE R22 JOB
021502,000390: 

Page 501

021504,000392: 24,2254           37717                           CAF      PRIO26                                #  YES-SCHEDULE R22 JOB (RR DATA READ)
021505,000393: 24,2255           05105                           TC       FINDVAC                               
021506,000394: 24,2256  E7,1456                                  EBANK=   LOSCOUNT                              
021507,000395: 24,2256           02631 50067                     2CADR    R22LEM42                              
021508,000396: 
021509,000397: 24,2260           05261                           TC       TASKOVER                              
021510,000398: 
021511,000399: 
021512,000400: 24,2261           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET ,WAIT 15 SECONDS
021513,000401: 24,2262           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
021514,000402: 
021515,000403: 24,2263           02244                           TC       P20LEMC1                              
021516,000404: 
021517,000405: 24,2264           32667        P20LEMD            CAF      1500DEC                               
021518,000406: 24,2265           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
021519,000407: 24,2266           02270                           ADRES    P20LEMD1                              
021520,000408: 24,2267           05155                           TC       ENDOFJOB                              
021521,000409: 
021522,000410: 
021523,000411: 24,2270           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021524,000412: 24,2271           74747                           MASK     TRACKBIT                              
021525,000413: 24,2272           10000                           CCS      A                                     
021526,000414: 24,2273           12277                           TCF      P20LEMD2                              #  YES-SCHEDULE DESIGNATE JOB
021527,000415: 24,2274           05221                           TC       FIXDELAY                              #  NO-WAIT 15 SECONDS
021528,000416: 24,2275           02734                           DEC      1500       B-14                       
021529,000417: 24,2276           02270                           TC       P20LEMD1                              
021530,000418: 
021531,000419: 
021532,000420: 24,2277           37717        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
021533,000421: 24,2300           05105                           TC       FINDVAC                               
021534,000422: 24,2301  E7,1456                                  EBANK=   LOSCOUNT                              
021535,000423: 24,2301           02211 50067                     2CADR    P20LEMC3                              #  START AT PERM. MEMORY INTEGRATION
021536,000424: 
021537,000425: 24,2303           05261                           TC       TASKOVER                              
021538,000426: 
021539,000427: 
021540,000428: 24,2304           00372        250DEC             DEC      250        B-14                       
021541,000429: 24,2305           00526        ALRM526            OCT      00526                                 
021542,000430: 24,2306           00201        OCT201             OCT      00201                                 
021543,000431: 24,2307           00514        ALRM514            OCT      514                                   
021544,000432: 24,2310           00074        MAXTRIES           DEC      60         B-14                       
021545,000433: 24,2311     4363               OCT00012           EQUALS   BINCON                                
021546,000434: 24,2311  23,2513               ONEB-2             EQUALS   DP1/4TH                               
021547,000435: 24,2311           01441        V06N33*            VN       0633                                  
021548,000436: 24,2312           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
021549,000437: 24,2313           01757                                    LS21X                                 #   TO PRESENT TIME
021550,000438: 24,2314           27412                                    INTSTALL                              
021551,000439: 24,2315           77624                           CALL                                           
021552,000440: 24,2316           26645                                    SETIFLGS                              
021553,000441: 24,2317           43014                           BOF      SET                                   #  IF W-MATRIX INVALID,DONT INTEGRATE IT
021554,000442: 

Page 502

021556,000444: 24,2320           02756                                    RENDWFLG                              
021557,000445: 24,2321           50332                                    UPPSV1                                
021558,000446: 24,2322           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
021559,000447: 24,2323           43014                           BON      SET                                   
021560,000448: 24,2324           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
021561,000449: 24,2325           50327                                    UPPSV5                                
021562,000450: 24,2326           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
021563,000451: 24,2327           77614        UPPSV5             BOF                                            
021564,000452: 24,2330           00747                                    VEHUPFLG                              
021565,000453: 24,2331           50364                                    UPPSV3                                
021566,000454: 24,2332           77614        UPPSV1             SET                                            
021567,000455: 24,2333           01474                                    VINTFLAG                              
021568,000456: 24,2334           77624                           CALL                                           
021569,000457: 24,2335           27135                                    INTEGRV                               
021570,000458: 24,2336           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
021571,000459: 24,2337           11226                                    GRP2PC                                #  TO PROTECT INTEGRATION
021572,000460: 24,2340           77624                           CALL                                           
021573,000461: 24,2341           27412                                    INTSTALL                              
021574,000462: 24,2342           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
021575,000463: 24,2343           01571                                    TETCSM                                
021576,000464: 24,2344           01674                                    VINTFLAG                              
021577,000465: 24,2345           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
021578,000466: 24,2346           26645                                    SETIFLGS                              #   WITHOUT W-MATRIX
021579,000467: 24,2347           34041                           STCALL   TDEC1                                 
021580,000468: 24,2350           27135                                    INTEGRV                               
021581,000469: 24,2351           77214                           BOFF     VLOAD                                 
021582,000470: 24,2352           04347                                    SURFFLAG                              
021583,000471: 24,2353           50216                                    P20LEMC4                              
021584,000472: 24,2354           01661                                    RCVLEM                                
021585,000473: 24,2355           77742                           VSR2                                           
021586,000474: 24,2356           26352                           STOVL    LMPOS                                 
021587,000475: 24,2357           01667                                    VCVLEM                                
021588,000476: 24,2360           77742                           VSR2                                           
021589,000477: 24,2361           02360                           STORE    LMVEL                                 
021590,000478: 24,2362           77650                           GOTO                                           
021591,000479: 24,2363           01757                                    LS21X                                 
021592,000480: 
021593,000481: 
021594,000482: 24,2364           45014        UPPSV3             CLEAR    CALL                                  
021595,000483: 24,2365           01674                                    VINTFLAG                              
021596,000484: 24,2366           27135                                    INTEGRV                               
021597,000485: 24,2367           77624                           CALL                                           
021598,000486: 24,2370           11226                                    GRP2PC                                
021599,000487: 24,2371           77624                           CALL                                           
021600,000488: 24,2372           27412                                    INTSTALL                              
021601,000489: 24,2373           71214                           SET      DLOAD                                 
021602,000490: 24,2374           01474                                    VINTFLAG                              
021603,000491: 24,2375           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.
021604,000492: 24,2376           77650                           GOTO                                           
021605,000493: 24,2377           50345                                    UPPSV4                                
021606,000494: 

Page 503

021608,000496: 24,2400  E7,1456                                  EBANK=   LOSCOUNT                              
021609,000497: 24,2400                                           COUNT*   $$/P22                                
021610,000498: 

Page 504

021612,000500:                                                                                                  #  PROGRAM DESCRIPTION
021613,000501:                                                                                                  #  PREFERRED TRACKING ATTITUDE PROGRAM P25
021614,000502:                                                                                                  #  MOD NO - 3
021615,000503:                                                                                                  #  BY  P. VOLANTE
021616,000504:                                                                                                  #  FUNCTIONAL DESCRIPTION
021617,000505: 
021618,000506:                                                                                                  #    THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021619,000507:                                                                                                  #  ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021620,000508:                                                                                                  #  CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021621,000509:                                                                                                  #  CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021622,000510:                                                                                                  #  CALLING SEQUENCE -
021623,000511:                                                                                                  #    ASTRONAUT REQUEST THROUGH DSKY V37E25E
021624,000512:                                                                                                  #  SUBROUTINES CALLED -
021625,000513:                                                                                                  #    BANKCALL                      FLAGUP
021626,000514:                                                                                                  #    R02BOTH  (IMU STATUS CHECK)   ENDOFJOB
021627,000515:                                                                                                  #    R61LEM   (PREF TRK ATT ROUT)  WAITLIST
021628,000516:                                                                                                  #    TASKOVER                      FINDVAC
021629,000517:                                                                                                  #  NORMAL EXIT MODES  -
021630,000518:                                                                                                  #    P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021631,000519:                                                                                                  #  PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
021632,000520:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021633,000521:                                                                                                  #    NONE
021634,000522:                                                                                                  #  OUTPUT
021635,000523:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021636,000524:                                                                                                  #  FLAGS SET + RESET
021637,000525:                                                                                                  #    TRACKFLG,P25FLAG
021638,000526:                                                                                                  #  DEBRIS
021639,000527:                                                                                                  #    NONE
021640,000528: 24,2400  E7,1456                                  EBANK=   LOSCOUNT                              
021641,000529: 24,2400                                           COUNT*   $$/P25                                
021642,000530: 24,2400           05327        PROG25             TC       2PHSCHNG                              
021643,000531: 24,2401           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
021644,000532: 24,2402           05022                           OCT      05022                                 
021645,000533: 24,2403           26000                           OCT      26000                                 #  PRIORITY 26
021646,000534: 
021647,000535: 24,2404           04616                           TC       BANKCALL                              
021648,000536: 24,2405           11236                           CADR     R02BOTH                               #  IMU STATUS CHECK
021649,000537: 24,2406           05504                           TC       UPFLAG                                
021650,000538: 24,2407           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021651,000539: 24,2410           05504                           TC       UPFLAG                                
021652,000540: 24,2411           00006                           ADRES    P25FLAG                               #  SET P25FLAG
021653,000541: 24,2412           05516                           TC       DOWNFLAG                              
021654,000542: 24,2413           00010                           ADRES    RNDVZFLG                              
021655,000543: 24,2414           05353        P25LEM1            TC       PHASCHNG                              
021656,000544: 24,2415           04022                           OCT      04022                                 
021657,000545: 24,2416           34743                           CAF      P25FLBIT                              
021658,000546: 24,2417           70074                           MASK     STATE                                 #  IS P25FLAG SET
021659,000547: 24,2420           00006                           EXTEND                                         
021660,000548: 24,2421           15155                           BZF      ENDOFJOB                              
021661,000549: 24,2422           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021662,000550: 

Page 505

021664,000552: 24,2423           70075                           MASK     STATE      +1                         
021665,000553: 24,2424           00006                           EXTEND                                         
021666,000554: 24,2425           12433                           BZF      P25LMWT1                              #  NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
021667,000555: 24,2426           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
021668,000556: 24,2427           55745                           TS       R65CNTR                               
021669,000557: 24,2430           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
021670,000558: 24,2431           46123                           CADR     R65LEM                                
021671,000559: 24,2432           02414                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
021672,000560: 24,2433           32444        P25LMWT1           CAF      60SCNDS                               
021673,000561: 24,2434           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
021674,000562: 24,2435           02437                           ADRES    P25LEM2                               
021675,000563: 24,2436           05155                           TC       ENDOFJOB                              
021676,000564: 24,2437           35024        P25LEM2            CAF      PRIO14                                
021677,000565: 24,2440           05105                           TC       FINDVAC                               
021678,000566: 24,2441  E7,1456                                  EBANK=   LOSCOUNT                              
021679,000567: 24,2441           02414 50067                     2CADR    P25LEM1                               
021680,000568: 24,2443           05261                           TC       TASKOVER                              
021681,000569: 24,2444           13560        60SCNDS            DEC      6000       B-14                       
021682,000570: 

Page 506

021684,000572:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
021685,000573:                                                                                                  #  PROGRAM DESCRIPTION
021686,000574:                                                                                                  #  MOD NO - 2
021687,000575:                                                                                                  #  BY P VOLANTE
021688,000576:                                                                                                  #  FUNCTIONAL DESCRIPTION
021689,000577: 
021690,000578:                                                                                                  #    TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021691,000579:                                                                                                  #  LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021692,000580:                                                                                                  #  CALLING SEQUENCE -
021693,000581:                                                                                                  #           TC     BANKCALL
021694,000582:                                                                                                  #           CADR   R22LEM
021695,000583:                                                                                                  #  SUBROUTINES CALLED -
021696,000584:                                                                                                  #    LSR22.1           GOFLASH        WAITLIST
021697,000585:                                                                                                  #    LSR22.2           PRIOLARM       BANKCALL
021698,000586:                                                                                                  #    LSR22.3           R61LEM
021699,000587:                                                                                                  #  NORMAL EXIT MODES-
021700,000588:                                                                                                  #    R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
021701,000589:                                                                                                  #  UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021702,000590:                                                                                                  #  R22 WILL TERMINATE SELF.
021703,000591:                                                                                                  #  ALARM OR ABORT EXIT MODES-
021704,000592:                                                                                                  #    PRIORITY ALARM
021705,000593:                                                                                                  #  PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021706,000594:                                                                                                  #  OUTPUT
021707,000595:                                                                                                  #    SEE OUTPUT FROM LSR22.3
021708,000596:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021709,000597:                                                                                                  #    SEE LSR22.1,LSR22.2,LSR22.3
021710,000598:                                                                                                  #  FLAGS SET + RESET
021711,000599:                                                                                                  #    NOANGFLG
021712,000600:                                                                                                  #  DEBRIS
021713,000601:                                                                                                  #    SEE LSR22.1,LSR22.2,LSR22.3
021714,000602: 24,2445  E7,1737                                  EBANK=   LRS22.1X                              
021715,000603: 24,2445                                           COUNT*   $$/R22                                
021716,000604: 24,2445           05353        R22LEM             TC       PHASCHNG                              
021717,000605: 24,2446           04022                           OCT      04022                                 
021718,000606: 24,2447           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
021719,000607: 24,2450           70074                           MASK     STATE                                 
021720,000608: 24,2451           00006                           EXTEND                                         
021721,000609: 24,2452           15155                           BZF      ENDOFJOB                              #  NO-EXIT R22 AND P20
021722,000610: 24,2453           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021723,000611: 24,2454           70075                           MASK     STATE      +1                         
021724,000612: 24,2455           00006                           EXTEND                                         
021725,000613: 24,2456           12640                           BZF      R22WAIT                               #  NO WAIT
021726,000614: 24,2457           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
021727,000615: 24,2460           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARSIT
021728,000616: 24,2461           02012                           RAND     CHAN12                                
021729,000617: 24,2462           00006                           EXTEND                                         
021730,000618: 24,2463           12111                           BZF      P20LEMA                               #  NO - RETURN TO P20
021731,000619: 24,2464           34752                           CAF      BIT2                                  #  YES
021732,000620: 24,2465           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
021733,000621: 24,2466           02033                           RAND     CHAN33                                
021734,000622: 

Page 507

021736,000624: 24,2467           00006                           EXTEND                                         
021737,000625: 24,2470           12472                           BZF      +2                                    #  YES CONTINUE
021738,000626: 24,2471           02135                           TC       P20LEMB5                              #  NO - SET IT
021739,000627: 24,2472           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021740,000628: 24,2473           74737                           MASK     RCDU0BIT                              
021741,000629: 24,2474           00006                           EXTEND                                         
021742,000630: 24,2475           12631                           BZF      R22LEM42                              #  CDUS BEING ZEROED
021743,000631: 24,2476           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS,AN EXTRA RADAR
021744,000632: 24,2477           00152                           OCT      00152                                 #  READING IS TAKEN,SO BAD DATA ISN'T USED
021745,000633: 24,2500           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
021746,000634: 24,2501           64366                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
021747,000635: 24,2502           50154                           INDEX    MPAC                                  
021748,000636: 24,2503           02504                           TC       +1                                    
021749,000637: 24,2504           02525                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
021750,000638: 24,2505           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR-TRY TO REDESIGNATE
021751,000639: 24,2506           32664                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
021752,000640: 24,2507           04616                           TC       BANKCALL                              
021753,000641: 24,2510           21563                           CADR     PRIOLARM                              
021754,000642: 24,2511           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021755,000643: 24,2512           02515                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
021756,000644: 24,2513           02506                           TC       -5                                    #  ENTER(ILLEGAL OPTION)
021757,000645: 24,2514           05155                           TC       ENDOFJOB                              
021758,000646: 
021759,000647: 
021760,000648: 24,2515           05353        R22LEM1            TC       PHASCHNG                              
021761,000649: 24,2516           04022                           OCT      04022                                 
021762,000650: 24,2517           32665                           CAF      V06N05                                #  DISPLAY DELTA THETA
021763,000651: 24,2520           04616                           TC       BANKCALL                              
021764,000652: 24,2521           20510                           CADR     PRIODSP                               
021765,000653: 24,2522           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021766,000654: 24,2523           02525                           TC       R22LEM2                               #  PROC (OK CONTINUE)
021767,000655: 24,2524           02217                           TC       P20LEMC                               #  ENTER(RECYCLE)
021768,000656: 24,2525           05353        R22LEM2            TC       PHASCHNG                              
021769,000657: 24,2526           04022                           OCT      04022                                 
021770,000658: 24,2527           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021771,000659: 24,2530           02545                           TC       R22LEM3                               #  YES-BYPASS FLAG CHECKS AND LRS22.2
021772,000660: 24,2531           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
021773,000661: 24,2532           74747                           MASK     TRACKBIT                              
021774,000662: 24,2533           00006                           EXTEND                                         
021775,000663: 24,2534           12640                           BZF      R22WAIT                               #  NO - WAIT
021776,000664: 24,2535           04616                           TC       BANKCALL                              #  YES
021777,000665: 24,2536           51333                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021778,000666: 24,2537           50154                           INDEX    MPAC                                  
021779,000667: 24,2540           02541                           TC       +1                                    
021780,000668: 24,2541           02545                           TC       R22LEM3                               #  NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021781,000669: 24,2542           04616                           TC       BANKCALL                              
021782,000670: 24,2543           46116                           CADR     R61LEM                                
021783,000671: 24,2544           02640                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
021784,000672: 24,2545           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
021785,000673: 24,2546           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)
021786,000674: 

Page 508

021788,000676: 24,2547           00006                           EXTEND                                         
021789,000677: 24,2550           12631                           BZF      R22LEM42                              #  BRANCH-YES
021790,000678: 24,2551           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
021791,000679: 24,2552           74745                           MASK     UPDATBIT                              
021792,000680: 24,2553           00006                           EXTEND                                         
021793,000681: 24,2554           12631                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
021794,000682: 24,2555           37717                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
021795,000683: 24,2556           55055                           TS       PHSPRDT2                              
021796,000684: 
021797,000685: 24,2557           06042                           TC       INTPRET                               
021798,000686: 24,2560           77650                           GOTO                                           
021799,000687: 24,2561           54416                                    LSR22.3                               
021800,000688: 24,2562           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
021801,000689: 24,2563           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
021802,000690: 24,2564           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
021803,000691: 24,2565           12624                           TCF      R22LEM44                              
021804,000692: 24,2566           77776        R22LEM96           EXIT                                           
021805,000693: 24,2567           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
021806,000694: 24,2570           55746                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
021807,000695: 24,2571           05353                           TC       PHASCHNG                              
021808,000696: 24,2572           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
021809,000697: 24,2573           37720                           CAF      PRIO27                                #  PROTECT DISPLAY
021810,000698: 24,2574           05072                           TC       NOVAC                                 
021811,000699: 24,2575  E7,1746                                  EBANK=   N49FLAG                               
021812,000700: 24,2575           02645 50067                     2CADR    N49DSP                                
021813,000701: 24,2577           06042                           TC       INTPRET                               
021814,000702: 24,2600           77735                           SLOAD                                          
021815,000703: 24,2601           03747                                    N49FLAG                               
021816,000704: 24,2602           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
021817,000705: 24,2603           50600                                    -3                                    #  SETTING CHANGED-BRANCH - NO
021818,000706: 24,2604           50612                                    R22LEM7                               #  PROCEED
021819,000707: 24,2605           77650                           GOTO                                           #  DISPLAY ANSWERED BY RECYCLE-INCORPORATE
021820,000708: 24,2606           03675                                    LGRET                                 #        NEXT MEASUREMENT
021821,000709: 24,2607           44752        V34TON49           CS       TWO                                   
021822,000710: 24,2610           55746                           TS       N49FLAG                               
021823,000711: 24,2611           05155                           TC       ENDOFJOB                              
021824,000712: 24,2612           77776        R22LEM7            EXIT                                           
021825,000713: 24,2613           31746                           CA       N49FLAG                               #  WAS ANSWER TO DISPLAY PRO OR TERM
021826,000714: 24,2614           64752                           AD       TWO                                   
021827,000715: 24,2615           00006                           EXTEND                                         
021828,000716: 24,2616           12445                           BZF      R22LEM                                #  BRANCH - TERM - TAKE ANOTHER RR READING
021829,000717: 24,2617           06042                           TC       INTPRET                               
021830,000718: 24,2620           77624                           CALL                                           
021831,000719: 24,2621           11226                                    GRP2PC                                #  PHASE CHANGE AND
021832,000720: 24,2622           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
021833,000721: 24,2623           55431                                    ASTOK                                 
021834,000722: 24,2624           25462        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
021835,000723: 24,2625           02670                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021836,000724: 24,2626           02642                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021837,000725: 

Page 509

021839,000727: 24,2627           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
021840,000728: 24,2630           02634                           TC       R22LEM45                              #  R65COUNTER = 5
021841,000729: 24,2631           02670        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021842,000730: 24,2632           02642                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021843,000731: 24,2633           34752                           CA       TWO                                   #  NO-SET R65COUNTER = 2
021844,000732: 24,2634           55745        R22LEM45           TS       R65CNTR                               
021845,000733: 24,2635           04616                           TC       BANKCALL                              
021846,000734: 24,2636           46123                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
021847,000735: 24,2637           02445                           TC       R22LEM                                
021848,000736: 24,2640           32667        R22WAIT            CAF      1500DEC                               
021849,000737: 24,2641           02233                           TC       P20LEMWT   +1                         
021850,000738: 
021851,000739: 
021852,000740: 24,2642           04616        R22LEM46           TC       BANKCALL                              #  WAIT 2 SECONDS AND TAKE ANOTHER MARK
021853,000741: 24,2643           01735                           CADR     2SECDELY                              
021854,000742: 24,2644           02445                           TC       R22LEM                                
021855,000743: 
021856,000744: 24,2645           32666        N49DSP             CAF      V06N49NB                              
021857,000745: 24,2646           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
021858,000746: 24,2647           20510                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021859,000747: 24,2650           02607                           TC       V34TON49                              #  TERMINATE - SET N49FLAG = -2
021860,000748: 24,2651           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
021861,000749: 24,2652           55746                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
021862,000750: 24,2653           05155                           TC       ENDOFJOB                              
021863,000751: 24,2654           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
021864,000752: 24,2655           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
021865,000753: 24,2656           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
021866,000754: 24,2657           53112                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
021867,000755: 24,2660           04616                           TC       BANKCALL                              #  BAD DATA
021868,000756: 24,2661           17706                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
021869,000757: 24,2662           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR-TRY TO REDESIGNATE
021870,000758: 24,2663           02445                           TC       R22LEM                                #  READ SUCCESSFUL-CONTINUE AT R22
021871,000759: 
021872,000760: 
021873,000761: 24,2664           00525        ALRM525            OCT      00525                                 
021874,000762: 24,2665           01405        V06N05             VN       00605                                 
021875,000763: 24,2666           01461        V06N49NB           VN       00649                                 
021876,000764: 24,2667           02734        1500DEC            DEC      1500       B-14                       
021877,000765:                                                                                                  #  LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021878,000766:                                                                                                  #           RETURNS TO CALLER +1 IF P22FLAG SET
021879,000767:                                                                                                  #                   TO CALLER +2 IF P22FLAG NOT SET
021880,000768: 
021881,000769: 
021882,000770: 24,2670                                           COUNT*   $$/P22                                
021883,000771: 24,2670           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
021884,000772: 24,2671           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
021885,000773: 24,2672           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
021886,000774: 24,2673           24002                           INCR     Q                                     #  NOT SET
021887,000775: 24,2674           00002                           TC       Q                                     #  RETURN
021888,000776: 

Page 510

021890,000778:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
021891,000779:                                                                                                  #  PROGRAM DESCRIPTION
021892,000780:                                                                                                  #  MOD NO - 2
021893,000781:                                                                                                  #  BY P VOLANTE
021894,000782:                                                                                                  #  FUNCTIONAL DESCRIPTION
021895,000783: 
021896,000784:                                                                                                  #    TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021897,000785:                                                                                                  #  OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021898,000786:                                                                                                  #  CALLING SEQUENCE -
021899,000787:                                                                                                  #           TC     BANKCALL
021900,000788:                                                                                                  #           CADR   R21LEM
021901,000789:                                                                                                  #  SUBROUTINES CALLED -
021902,000790:                                                                                                  #    FINDVAC        FLAGUP           ENDOFJOB        PRIOLARM
021903,000791:                                                                                                  #    NOVAC          INTPRET          LPS20.1         PHASCHNG
021904,000792:                                                                                                  #    WAITLIST       JOBSLEEP         JOBWAKE         FLAGDOWN
021905,000793:                                                                                                  #    TASKOVER       BANKCALL         RADSTALL        RRDESSM
021906,000794:                                                                                                  #  NORMAL EXIT MODES
021907,000795:                                                                                                  #    WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021908,000796:                                                                                                  #  WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
021909,000797:                                                                                                  #  ALARM OR ABORT EXIT MODES-
021910,000798:                                                                                                  #    PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021911,000799:                                                                                                  #  THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021912,000800:                                                                                                  #  ACQUISITION
021913,000801:                                                                                                  #  OUTPUT
021914,000802:                                                                                                  #    SEE LPS20.1,RRDESSM
021915,000803:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021916,000804:                                                                                                  #    RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
021917,000805:                                                                                                  #  FLAGS SET + RESET
021918,000806:                                                                                                  #    LOSCMFLG      LOKONSW
021919,000807:                                                                                                  #  DEBRIS
021920,000808:                                                                                                  #    SEE LPS20.1,RRDESSM
021921,000809: 24,2675  E7,1456                                  EBANK=   LOSCOUNT                              
021922,000810: 24,2675                                           COUNT*   $$/R21                                
021923,000811: 24,2675           44736        R21LEM             CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
021924,000812: 24,2676           00006                           EXTEND                                         
021925,000813: 24,2677           03012                           WAND     CHAN12                                
021926,000814: 24,2700           02670                           TC       LUNSFCHK                              
021927,000815: 24,2701           02706                           TC       R21LEM5                               
021928,000816: 24,2702           34755                           CAF      ZERO                                  #       COMMAND ANTENNA TO MODE CENTER
021929,000817: 24,2703           55106                           TS       TANG                                  #  IF NOT ON SURFACE-MODE 1-(T=0,S=0)
021930,000818: 24,2704           55107                           TS       TANG       +1                         
021931,000819: 24,2705           02716                           TC       R21LEM6                               
021932,000820: 24,2706           34740        R21LEM5            CAF      BIT12                                 
021933,000821: 24,2707           70110                           MASK     RADMODES                              
021934,000822: 24,2710           10000                           CCS      A                                     
021935,000823: 24,2711           02726                           TC       R21LEM10                              
021936,000824: 24,2712           34735                           CAF      BIT15                                 
021937,000825: 24,2713           55106                           TS       TANG                                  
021938,000826: 24,2714           44736                           CS       HALF                                  
021939,000827: 24,2715           55107                           TS       TANG       +1                         
021940,000828: 

Page 511

021942,000830: 24,2716           05516        R21LEM6            TC       DOWNFLAG                              
021943,000831: 24,2717           00012                           ADRES    LOKONSW                               
021944,000832: 24,2720           04616                           TC       BANKCALL                              
021945,000833: 24,2721           52506                           CADR     RRDESNB                               
021946,000834: 24,2722           02723                           TC       +1                                    
021947,000835: 24,2723           04616                           TC       BANKCALL                              
021948,000836: 24,2724           17706                           CADR     RADSTALL                              
021949,000837: 24,2725           02761                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE -ISSUE ALARM
021950,000838: 24,2726           05504        R21LEM10           TC       UPFLAG                                
021951,000839: 24,2727           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
021952,000840: 24,2730           32310                           CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECONDS)
021953,000841: 24,2731           55113                           TS       DESCOUNT                              #  TO DESIGNATE AND LOCK ON
021954,000842: 24,2732           36250        R21LEM2            CAF      THREE                                 
021955,000843: 24,2733           55456                           TS       LOSCOUNT                              
021956,000844: 24,2734           06042        R21LEM1            TC       INTPRET                               
021957,000845: 24,2735           43234                           RTB      DAD                                   
021958,000846: 24,2736           21574                                    LOADTIME                              
021959,000847: 24,2737           11121                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021960,000848: 24,2740           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
021961,000849: 24,2741           51255                                    LPS20.1                               
021962,000850: 24,2742           77776                           EXIT                                           
021963,000851: 24,2743           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR-ON DESIRED
021964,000852: 24,2744           00012                           ADRES    LOKONSW                               
021965,000853: 24,2745           05516                           TC       DOWNFLAG                              
021966,000854: 24,2746           00126                           ADRES    NORRMON                               
021967,000855: 24,2747           06042                           TC       INTPRET                               
021968,000856: 24,2750           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
021969,000857: 24,2751           52404                                    RRDESSM                               #  DESIGNATE ROUTINE
021970,000858: 24,2752           77776                           EXIT                                           
021971,000859: 24,2753           03002                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
021972,000860:                                                                                                  #  ON LUNAR SURFACE
021973,000861: 24,2754           02111                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
021974,000862: 24,2755           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
021975,000863: 24,2756           17706                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021976,000864: 24,2757           02761                           TC       +2                                    #  BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
021977,000865: 24,2760           02770                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021978,000866: 24,2761           33000        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
021979,000867: 24,2762           04616                           TC       BANKCALL                              
021980,000868: 24,2763           21563                           CADR     PRIOLARM                              
021981,000869: 24,2764           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021982,000870: 24,2765           02775                           TC       R21SRCH                               #  PROC
021983,000871: 24,2766           02211                           TC       P20LEMC3                              
021984,000872: 24,2767           05155                           TC       ENDOFJOB                              
021985,000873: 24,2770           05516        R21END             TC       DOWNFLAG                              
021986,000874: 24,2771           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
021987,000875: 24,2772           02670                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021988,000876: 24,2773           02232                           TC       P20LEMWT                              #  YES - BYPASS V 50 N 72 DISPLAY
021989,000877: 24,2774           03122                           TC       R21DISP                               #  PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021990,000878: 24,2775           05353        R21SRCH            TC       PHASCHNG                              
021991,000879: 24,2776           04022                           OCT      04022                                 
021992,000880: 

Page 512

021994,000882: 24,2777           03207                           TC       R24LEM                                #  SEARCH ROUTINE
021995,000883: 24,3000           00503        ALRM503            OCT      00503                                 
021996,000884: 24,3001           00527        ALRM527            OCT      527                                   
021997,000885: 
021998,000886: 
021999,000887: 24,3002           32310        R21LEM4            CAF      MAXTRIES                              #  SET UP COUNTER FOR
022000,000888: 24,3003           55423                           TS       REPOSCNT                              #  60 PASSES (APPROX 600 SECS.)
022001,000889: 24,3004           05504                           TC       UPFLAG                                
022002,000890: 24,3005           00005                           ADRES    FSPASFLG                              #  SET FIRST PASS FLAG
022003,000891: 24,3006           05516                           TC       DOWNFLAG                              #  RESET LOS BEING
022004,000892: 24,3007           00041                           ADRES    LOSCMFLG                              #  COMPUTED FLAG
022005,000893: 24,3010           06042                           TC       INTPRET                               
022006,000894: 24,3011           43234        R21LEM12           RTB      DAD                                   
022007,000895: 24,3012           21574                                    LOADTIME                              
022008,000896: 24,3013           11117                                    TENSEC                                #  TIME T = T + 10 SECS.
022009,000897: 24,3014           03425                           STORE    REPOSTM                               #  SAVE FOR LONGCALL AND UPPSV
022010,000898: 24,3015           34041                           STCALL   TDEC1                                 
022011,000899: 24,3016           51255                                    LPS20.1                               #  COMPUTE LOS AT TIME T
022012,000900: 24,3017           77624                           CALL                                           
022013,000901: 24,3020           52404                                    RRDESSM                               
022014,000902: 24,3021           77776                           EXIT                                           
022015,000903: 24,3022           03034                           TC       R21LEM13                              #  LOS NOT IN MODE 2 COVERAGE
022016,000904: 24,3023           05155                           TC       ENDOFJOB                              #  VEHICLE MANEUVER REQUIRED
022017,000905: 24,3024           06032                           TC       KILLTASK                              
022018,000906: 24,3025           52604                           CADR     BEGDES                                
022019,000907: 24,3026           06042                           TC       INTPRET                               
022020,000908: 24,3027           43014                           BOF      CLRGO                                 
022021,000909: 24,3030           00345                                    FSPASFLG                              #  FIRST PASS THRU REPOSITION
022022,000910: 24,3031           51044                                    R21LEMB                               #  NO-GO TO CONTINUOUS DESIGNATE
022023,000911: 24,3032           00225                                    FSPASFLG                              #  YES-RESET FIRST PASS FLAG
022024,000912: 24,3033           51041                                    R21LEM50                              
022025,000913: 24,3034           11423        R21LEM13           CCS      REPOSCNT                              #  HAVE WE TRIED 60 TIMES?
022026,000914: 24,3035           03037                           TC       R21LEM7                               #  NO-ADD 10 SECS. RECOMPUTE LOS
022027,000915: 24,3036           03106                           TC       R21LEM11                              #  YES-PUT OUT ALARM 530
022028,000916: 24,3037           55423        R21LEM7            TS       REPOSCNT                              
022029,000917: 24,3040           06042                           TC       INTPRET                               
022030,000918: 24,3041           52145        R21LEM50           DLOAD    GOTO                                  
022031,000919: 24,3042           03425                                    REPOSTM                               
022032,000920: 24,3043           51013                                    R21LEM12   +2                         
022033,000921: 24,3044           77745        R21LEMB            DLOAD                                          
022034,000922: 24,3045           03425                                    REPOSTM                               
022035,000923: 24,3046           34041                           STCALL   TDEC1                                 
022036,000924: 24,3047           50312                                    UPPSV                                 
022037,000925: 24,3050           77776                           EXIT                                           
022038,000926: 24,3051           05504                           TC       UPFLAG                                #  SET RADMODES BIT 15 FOR
022039,000927: 24,3052           00264                           ADRES    CDESFLAG                              #  CONTINUOUS DESIGNATION
022040,000928: 24,3053           05516                           TC       DOWNFLAG                              
022041,000929: 24,3054           00012                           ADRES    LOKONSW                               
022042,000930: 24,3055           05504                           TC       UPFLAG                                
022043,000931: 24,3056           00126                           ADRES    NORRMON                               
022044,000932: 

Page 513

022046,000934: 24,3057           04616                           TC       BANKCALL                              
022047,000935: 24,3060           52506                           CADR     RRDESNB                               
022048,000936: 24,3061           03062                           TC       +1                                    
022049,000937: 24,3062           06042                           TC       INTPRET                               
022050,000938: 24,3063           44234                           RTB      BDSU                                  
022051,000939: 24,3064           21574                                    LOADTIME                              #  COMPUTE DELTA TIME
022052,000940: 24,3065           03425                                    REPOSTM                               #  FOR LONGCALL
022053,000941: 24,3066           03427                           STORE    DELTATM                               
022054,000942: 24,3067           77776                           EXIT                                           
022055,000943: 24,3070           00006                           EXTEND                                         
022056,000944: 24,3071           31427                           DCA      DELTATM                               
022057,000945: 24,3072           05277                           TC       LONGCALL                              
022058,000946: 24,3073  E7,1456                                  EBANK=   LOSCOUNT                              
022059,000947: 24,3073           03076 50067                     2CADR    R21LEM9                               
022060,000948: 24,3075           05155                           TC       ENDOFJOB                              
022061,000949: 24,3076           06032        R21LEM9            TC       KILLTASK                              
022062,000950: 24,3077           52613                           CADR     STDESIG                               
022063,000951: 24,3100           06011                           TC       CLRADMOD                              
022064,000952: 24,3101           37717                           CAF      PRIO26                                
022065,000953: 24,3102           05105                           TC       FINDVAC                               
022066,000954: 24,3103  E7,1456                                  EBANK=   LOSCOUNT                              
022067,000955: 24,3103           02726 50067                     2CADR    R21LEM10                              
022068,000956: 24,3105           05261                           TC       TASKOVER                              
022069,000957: 24,3106           33115        R21LEM11           CAF      ALRM530                               #  ALARM 530-LOS NOT IN COVERAGE
022070,000958: 24,3107           04616                           TC       BANKCALL                              #  AFTER TRYING TO DESIGNATE FOR
022071,000959: 24,3110           21563                           CADR     PRIOLARM                              #  600 SECS.
022072,000960: 24,3111           06025                           TC       GOTOV56                               
022073,000961: 24,3112           06025                           TC       GOTOV56                               
022074,000962: 24,3113           06025                           TC       GOTOV56                               
022075,000963: 24,3114           05155                           TC       ENDOFJOB                              
022076,000964: 24,3115           00530        ALRM530            OCT      00530                                 
022077,000965: 24,3116           00000 01750  TENSEC             2DEC     1000       B-28                       
022078,000966: 24,3120           00000 00062  HALFSEC            2DEC     50         B-28                       
022079,000967: 24,3122           05353        R21DISP            TC       PHASCHNG                              
022080,000968: 24,3123           04022                           OCT      04022                                 
022081,000969: 24,3124           33135                           CAF      V06N72PV                              #  FLASH V 50 N 72 - PLEASE PERFORM RR
022082,000970: 24,3125           04616                           TC       BANKCALL                              #  MAIN LOBE LOCKON VERIFICATION
022083,000971: 24,3126           20711                           CADR     GOPERF2R                              
022084,000972: 24,3127           06025                           TC       GOTOV56                               #  TERMINATE EXITS VIA V 56
022085,000973: 24,3130           02232                           TC       P20LEMWT                              #  PROCEED CONTINUES TO R22
022086,000974: 24,3131           03124                           TC       -5                                    #  ENTER ILLEGAL
022087,000975: 24,3132           34745                           CAF      BIT7                                  
022088,000976: 24,3133           05464                           TC       LINUS                                 #  SET BITS TO MAKE THIS A PRIORITY DISPLAY
022089,000977: 24,3134           05155                           TC       ENDOFJOB                              
022090,000978: 

Page 514

022092,000980: 24,3135           01510        V06N72PV           VN       00672                                 
022093,000981: 

Page 515

022095,000983:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
022096,000984:                                                                                                  #  PROGRAM DESCRIPTION
022097,000985:                                                                                                  #  MOD NO - 2
022098,000986:                                                                                                  #  BY P VOLANTE
022099,000987:                                                                                                  #  FUNCTIONAL DESCRIPTION
022100,000988: 
022101,000989:                                                                                                  #    TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022102,000990:                                                                                                  #  CALLING SEQUENCE -
022103,000991:                                                                                                  #           TC     R23LEM
022104,000992:                                                                                                  #  SUBROUTINES CALLED
022105,000993:                                                                                                  #    BANKCALL        R61LEM
022106,000994:                                                                                                  #    SETMINDB        GOPERF1
022107,000995:                                                                                                  #  NORMAL EXIT MODES -
022108,000996:                                                                                                  #    IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022109,000997:                                                                                                  #                               ,SELECTION OF PROC  WILL CONTINUE R23
022110,000998:                                                                                                  #                               ,SELECTION OF TERM  WILL TERMINATE R23 +P20
022111,000999:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022112,001000:                                                                                                  #    SEE NORMAL EXIT MODES ABOVE
022113,001001:                                                                                                  #  OUTPUT
022114,001002:                                                                                                  #    N.A.
022115,001003:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
022116,001004:                                                                                                  #    ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022117,001005: 24,3136     1142                                  EBANK=   GENRET                                
022118,001006: 24,3136                                           COUNT*   $$/R23                                
022119,001007: 24,3136           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
022120,001008: 24,3137           00126                           ADRES    NORRMON                               
022121,001009: 24,3140           00004                           INHINT                                         
022122,001010: 24,3141           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
022123,001011: 24,3142           40141                           CADR     SETMINDB                              
022124,001012: 24,3143           00003                           RELINT                                         
022125,001013: 24,3144           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
022126,001014: 24,3145           00006                           EXTEND                                         
022127,001015: 24,3146           05012                           WOR      CHAN12                                
022128,001016: 24,3147           33206                           CAF      OCT205                                
022129,001017: 24,3150           04616                           TC       BANKCALL                              
022130,001018: 24,3151           20624                           CADR     GOPERF1                               
022131,001019: 24,3152           03177                           TC       R23LEM2                               #  TERMINATE
022132,001020: 24,3153           03155                           TC       R23LEM11                              #  PROCEDE
022133,001021: 24,3154           03202                           TC       R23LEM3                               #  ENTER- DO ANOTHER MANUVER
022134,001022: 24,3155           00004        R23LEM11           INHINT                                         
022135,001023: 24,3156           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
022136,001024: 24,3157           00035                           ADRES    CDUT                                  
022137,001025: 24,3160           03167                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
022138,001026: 24,3161           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
022139,001027: 24,3162           40115                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
022140,001028: 24,3163           00003                           RELINT                                         
022141,001029: 24,3164           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022142,001030: 24,3165           00126                           ADRES    NORRMON                               
022143,001031: 24,3166           02163                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
022144,001032: 24,3167           00003        OUTOFLIM           RELINT                                         
022145,001033: 

Page 516

022147,001035: 24,3170           33205                           CAF      OCT501PV                              
022148,001036: 24,3171           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
022149,001037: 24,3172           21563                           CADR     PRIOLARM                              #  LIMITS
022150,001038: 24,3173           03177                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022151,001039: 24,3174           03170                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
022152,001040: 24,3175           03202                           TC       R23LEM3                               #  RECYCLE- DO ANOTHER MANUVER
022153,001041: 24,3176           05155                           TC       ENDOFJOB                              
022154,001042: 24,3177           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022155,001043: 24,3200           00126                           ADRES    NORRMON                               
022156,001044: 24,3201           06025                           TC       GOTOV56                               #  AND EXIT VIA V56
022157,001045: 24,3202           04616        R23LEM3            TC       BANKCALL                              
022158,001046: 24,3203           46116                           CADR     R61LEM                                
022159,001047: 24,3204           03144                           TC       R23LEM1                               
022160,001048: 
022161,001049: 
022162,001050: 24,3205           00501        OCT501PV           OCT      501                                   
022163,001051: 24,3206           00205        OCT205             OCT      205                                   
022164,001052: 

Page 517

022166,001054:                                                                                                  #  SEARCH ROUTINE R24LEM
022167,001055:                                                                                                  #  PROGRAM DESCRIPTION
022168,001056:                                                                                                  #  MOD NO - 2
022169,001057:                                                                                                  #  BY  P. VOLANTE
022170,001058:                                                                                                  #  FUNCTIONAL DESCRIPTION
022171,001059: 
022172,001060:                                                                                                  #    TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022173,001061:                                                                                                  #  FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022174,001062:                                                                                                  #  THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022175,001063:                                                                                                  #  CALLING SEQUENCE
022176,001064:                                                                                                  #           CAF    PRIONN
022177,001065:                                                                                                  #           TC     FINDVAC
022178,001066:                                                                                                  #           EBANK= DATAGOOD
022179,001067:                                                                                                  #           2CADR  R24LEM
022180,001068:                                                                                                  #  SUBROUTINES CALLED
022181,001069:                                                                                                  #    FLAGUP        FLAGDOWN      BANKCALL
022182,001070:                                                                                                  #    R61LEM        GOFLASHR      FINDVAC
022183,001071:                                                                                                  #    ENDOFJOB      NOVAC         LSR24.1
022184,001072:                                                                                                  #  NORMAL EXIT MODES-
022185,001073:                                                                                                  #    ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
022186,001074:                                                                                                  #  REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022187,001075:                                                                                                  #  PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022188,001076:                                                                                                  #  ALARM OR ABORT EXIT MODES-
022189,001077:                                                                                                  #    SEE NORMAL EXIT MODES ABOVE
022190,001078:                                                                                                  #  OUTPUT -
022191,001079:                                                                                                  #    SEE OUTPUT FROM LSR24.1 + R61LEM
022192,001080:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022193,001081:                                                                                                  #    SEE INPUT FOR LSR24.1
022194,001082:                                                                                                  #  FLAGS SET + RESET
022195,001083:                                                                                                  #    SRCHOPT,ACMODFLG
022196,001084: 24,3207  E7,1733                                  EBANK=   DATAGOOD                              
022197,001085: 24,3207                                           COUNT*   $$/R24                                
022198,001086: 24,3207           05504        R24LEM             TC       UPFLAG                                
022199,001087: 24,3210           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
022200,001088: 24,3211           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
022201,001089: 24,3212           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
022202,001090: 24,3213           34755        R24LEM1            CAF      ZERO                                  
022203,001091: 24,3214           55733                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
022204,001092: 24,3215           55734                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
022205,001093: 24,3216           55735                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
022206,001094: 24,3217           05353        R24LEM2            TC       PHASCHNG                              
022207,001095: 24,3220           04022                           OCT      04022                                 
022208,001096: 24,3221           33254                           CAF      V16N80                                
022209,001097: 24,3222           04616                           TC       BANKCALL                              
022210,001098: 24,3223           20505                           CADR     PRIODSPR                              
022211,001099: 24,3224           06025                           TC       GOTOV56                               
022212,001100: 24,3225           03231                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
022213,001101: 
022214,001102: 
022215,001103: 24,3226           03235                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C
022216,001104: 

Page 518

022218,001106: 24,3227           04616                           TC       BANKCALL                              
022219,001107: 24,3230           55442                           CADR     LRS24.1                               
022220,001108: 24,3231           06032        R24END             TC       KILLTASK                              
022221,001109: 24,3232           55643                           CADR     CALLDGCH                              
022222,001110: 24,3233           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
022223,001111: 24,3234           12063                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
022224,001112: 
022225,001113:    6011                                           BLOCK    3                                     
022226,001114:    6000                                           SETLOC   FFTAG6                                
022227,001115:    6000                                           BANK                                           
022228,001116:    6011                                           COUNT*   $$/R24                                
022229,001117: 
022230,001118:    6011           46021        CLRADMOD           CS       BIT10+15                              
022231,001119:    6012           00004                           INHINT                                         
022232,001120:    6013           70110                           MASK     RADMODES                              
022233,001121:    6014           54110                           TS       RADMODES                              
022234,001122:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
022235,001123:    6016           00006                           EXTEND                                         
022236,001124:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
022237,001125: 
022238,001126:    6020           00002                           TC       Q                                     
022239,001127: 
022240,001128: 
022241,001129:    6021           41000        BIT10+15           OCT      41000                                 
022242,001130: 24,3235                                           BANK     24                                    
022243,001131: 24,2000                                           SETLOC   P20S                                  
022244,001132: 24,2000                                           BANK                                           
022245,001133: 24,3235                                           COUNT*   $$/R24                                
022246,001134: 
022247,001135: 24,3235           05353        R24LEM3            TC       PHASCHNG                              
022248,001136: 24,3236           04022                           OCT      04022                                 
022249,001137: 24,3237           06032                           TC       KILLTASK                              
022250,001138: 24,3240           55643                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
022251,001139: 24,3241           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES
022252,001140: 24,3242           34774                           CAF      .5SEC                                 
022253,001141: 24,3243           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
022254,001142: 24,3244           01736                           CADR     DELAYJOB                              
022255,001143: 24,3245           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
022256,001144: 24,3246           03251                           TC       R24LEM4                               #  YES-DONT DO ATTITUDE MANEUVER
022257,001145: 24,3247           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
022258,001146: 24,3250           46116                           CADR     R61LEM                                #  ATTITUDE MANEUVER
022259,001147: 24,3251           34755        R24LEM4            CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
022260,001148: 24,3252           55303                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022261,001149:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
022262,001150: 24,3253           03217                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
022263,001151: 
022264,001152: 
022265,001153: 24,3254           04120        V16N80             VN       01680                                 
022266,001154: 

Page 519

022268,001156:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022269,001157:                                                                                                  #  PROGRAM DESCRIPTION
022270,001158:                                                                                                  #  MOD NO : 3                      DATE: 4-11-67
022271,001159:                                                                                                  #  MOD BY : P VOLANTE  SDC
022272,001160: 
022273,001161: 
022274,001162:                                                                                                  #  FUNCTIONAL DESCRIPTION-
022275,001163:                                                                                                  #    TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022276,001164:                                                                                                  #  TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022277,001165:                                                                                                  #  ATTITUDE.
022278,001166:                                                                                                  #  CALLING SEQUENCE-
022279,001167:                                                                                                  #           TC     BANKCALL
022280,001168:                                                                                                  #           CADR   R61LEM
022281,001169:                                                                                                  #  SUBROUTINES CALLED
022282,001170:                                                                                                  #      LPS20.1       VECPOINT
022283,001171:                                                                                                  #      KALCMAN3
022284,001172: 
022285,001173: 
022286,001174:                                                                                                  #  NORMAL EXIT MODES-
022287,001175:                                                                                                  #    NORMAL RETURN IS TO CALLER + 1
022288,001176:                                                                                                  #  ALARM OR ABORT EXIT MODES-
022289,001177:                                                                                                  #    TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022290,001178:                                                                                                  #  RENDEZVOUS FLAG ARE NOT SET.
022291,001179:                                                                                                  #  OUTPUT -
022292,001180:                                                                                                  #    SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022293,001181:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022294,001182:                                                                                                  #    GENRET USED TO SAVE Q FOR RETURN
022295,001183:                                                                                                  #  FLAGS SET + RESET
022296,001184:                                                                                                  #    3AXISFLG
022297,001185:                                                                                                  #  DEBRIS
022298,001186:                                                                                                  #    SEE SUBROUTINES
022299,001187: 23,2000                                           SETLOC   R61                                   
022300,001188: 23,2000                                           BANK                                           
022301,001189: 23,2116  E7,1456                                  EBANK=   LOSCOUNT                              
022302,001190: 23,2116                                           COUNT*   $$/R61                                
022303,001191: 23,2116           04645        R61LEM             TC       MAKECADR                              
022304,001192: 23,2117           55142                           TS       GENRET                                
022305,001193: 23,2120           05504                           TC       UPFLAG                                #  SET R61 FLAG
022306,001194: 23,2121           00024                           ADRES    R61FLAG                               
022307,001195: 23,2122           02152                           TC       R61C+L02                              
022308,001196: 23,2123           04645        R65LEM             TC       MAKECADR                              
022309,001197: 23,2124           55142                           TS       GENRET                                
022310,001198: 23,2125           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
022311,001199: 23,2126           00024                           ADRES    R61FLAG                               
022312,001200: 23,2127           34750        R61C+L01           CAF      BIT4                                  #  BYPASS RADAR READING IF DATA
022313,001201: 23,2130           00006                           EXTEND                                         #  GOOD NOT PRESENT
022314,001202: 23,2131           02033                           RAND     CHAN33                                
022315,001203: 23,2132           10000                           CCS      A                                     
022316,001204: 23,2133           12152                           TCF      R61C+L02                              #  NO DATA GOOD
022317,001205: 23,2134           05504                           TC       UPFLAG                                
022318,001206: 

Page 520

022320,001208: 23,2135           00063                           ADRES    R04FLAG                               #  PREVENT 521 ALM
022321,001209: 23,2136           04616                           TC       BANKCALL                              #  READ RR RANGE AND RDOT
022322,001210: 23,2137           53112                           CADR     RRRDOT                                #   EVERY R65 PASS (3 TIMES
022323,001211: 23,2140           04616                           TC       BANKCALL                              #   BEFORE FIRST MARK, ONCE
022324,001212: 23,2141           17706                           CADR     RADSTALL                              #   DURING ANY MARK PROCESSING,
022325,001213: 23,2142           12143                           NOOP                                           
022326,001214: 23,2143           04616                           TC       BANKCALL                              
022327,001215: 23,2144           53114                           CADR     RRRANGE                               
022328,001216: 23,2145           04616                           TC       BANKCALL                              
022329,001217: 23,2146           17706                           CADR     RADSTALL                              
022330,001218: 23,2147           12150                           NOOP                                           
022331,001219: 23,2150           05516                           TC       DOWNFLAG                              
022332,001220: 23,2151           00063                           ADRES    R04FLAG                               
022333,001221: 23,2152           34747        R61C+L02           CAF      TRACKBIT                              #  TRACKFLAG
022334,001222: 23,2153           70075                           MASK     STATE      +1                         
022335,001223: 23,2154           00006                           EXTEND                                         
022336,001224: 23,2155           12314                           BZF      R65WAIT                               #  NOT SET
022337,001225: 23,2156           06042        R61C+L03           TC       INTPRET                               
022338,001226: 23,2157           77775                           VLOAD                                          
022339,001227: 23,2160           06516                                    HIUNITZ                               
022340,001228: 23,2161           03765                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
022341,001229: 23,2162           43234        R61LEM1            RTB      DAD                                   
022342,001230: 23,2163           21574                                    LOADTIME                              #  EXTRAPOLATE FORWARD TO CENTER
022343,001231: 23,2164           15712                                    3SECONDS                              #  SIX SECOND PERIOD.
022344,001232: 23,2165           34041                           STCALL   TDEC1                                 
022345,001233: 23,2166           51255                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
022346,001234: 23,2167           77775                           VLOAD                                          
022347,001235: 23,2170           01101                                    RRTARGET                              
022348,001236: 23,2171           03773                           STORE    POINTVSM                              
022349,001237: 23,2172           45034                           RTB      CALL                                  #     GET DESIRED CDU'S FOR VECPNT1
022350,001238: 23,2173           46322                                    READCDUD                              
022351,001239: 23,2174           56032                                    VECPNT1                               #  COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022352,001240: 23,2175           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI,CTHETA,CPSI
022353,001241: 23,2176           77776                           EXIT                                           
022354,001242: 23,2177           05353                           TC       PHASCHNG                              
022355,001243: 23,2200           04022                           OCT      04022                                 
022356,001244: 23,2201           34747                           CAF      TRACKBIT                              #   IS TRACK FLAG SET
022357,001245: 23,2202           70075                           MASK     FLAGWRD1                              
022358,001246: 23,2203           00006                           EXTEND                                         
022359,001247: 23,2204           12314                           BZF      R65WAIT                               
022360,001248: 23,2205           04616                           TC       BANKCALL                              
022361,001249: 23,2206           54261                           CADR     G+N,AUTO                              #  CHECK FOR AUTO MODE
022362,001250: 23,2207           10000                           CCS      A                                     
022363,001251: 23,2210           02302                           TC       R61C+L04                              #  NOT IN AUTO
022364,001252: 23,2211           06042                           TC       INTPRET                               
022365,001253: 23,2212           45175                           VLOAD    CALL                                  
022366,001254: 23,2213           01101                                    RRTARGET                              
022367,001255: 23,2214           47650                                    CDU*SMNB                              
022368,001256: 23,2215           45345                           DLOAD    DSU                                   #  GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022369,001257: 23,2216           00162                                    MPAC       +5                         
022370,001258: 

Page 521

022372,001260: 23,2217           06320                                    COS15DEG                              
022373,001261: 23,2220           77440        R61LEM2            BMN      EXIT                                  #  BRANCH - PHI > 15 DEGREES
022374,001262: 23,2221           46236                                    R61C+L05                              #  PHI GRE 10DEG
022375,001263: 23,2222  E6,1635                                  EBANK=   CDUXD                                 
022376,001264: 23,2222           35015                           CAF      EBANK6                                
022377,001265: 23,2223           54003                           TS       EBANK                                 
022378,001266: 23,2224           00004                           INHINT                                         
022379,001267: 23,2225           00006                           EXTEND                                         
022380,001268: 23,2226           30322                           DCA      CPHI                                  
022381,001269: 23,2227           53636                           DXCH     CDUXD                                 
022382,001270: 23,2230           30323                           CA       CPSI                                  
022383,001271: 23,2231           55637                           TS       CDUZD                                 
022384,001272: 23,2232           00003                           RELINT                                         
022385,001273: 23,2233  E7,1456                                  EBANK=   LOSCOUNT                              
022386,001274: 23,2233           35016                           CAF      EBANK7                                
022387,001275: 23,2234           54003                           TS       EBANK                                 
022388,001276: 23,2235           02261                           TC       R61C+L06                              
022389,001277: 23,2236           77776        R61C+L05           EXIT                                           
022390,001278: 23,2237           00004                           INHINT                                         
022391,001279: 23,2240           04674                           TC       IBNKCALL                              
022392,001280: 23,2241           40154                           FCADR    ZATTEROR                              
022393,001281: 23,2242           04674                           TC       IBNKCALL                              
022394,001282: 23,2243           40141                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
022395,001283: 23,2244           05516                           TC       DOWNFLAG                              
022396,001284: 23,2245           00124                           ADRES    3AXISFLG                              
022397,001285: 23,2246           05504                           TC       UPFLAG                                
022398,001286: 23,2247           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
022399,001287: 23,2250           04616                           TC       BANKCALL                              
022400,001288: 23,2251           54123                           CADR     R60LEM                                
022401,001289: 23,2252           00004                           INHINT                                         
022402,001290: 23,2253           04674                           TC       IBNKCALL                              
022403,001291: 23,2254           40115                           FCADR    RESTORDB                              
022404,001292: 23,2255           05353                           TC       PHASCHNG                              
022405,001293: 23,2256           04022                           OCT      04022                                 
022406,001294: 23,2257           05516                           TC       DOWNFLAG                              
022407,001295: 23,2260           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
022408,001296: 23,2261           30075        R61C+L06           CA       FLAGWRD1                              
022409,001297: 23,2262           74742                           MASK     R61FLBIT                              
022410,001298: 23,2263           10000                           CCS      A                                     
022411,001299: 23,2264           02305                           TC       R61C+L4                               
022412,001300: 23,2265           11745                           CCS      R65CNTR                               
022413,001301: 23,2266           02270                           TC       +2                                    
022414,001302: 23,2267           02305                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
022415,001303: 23,2270           55745                           TS       R65CNTR                               
022416,001304: 23,2271           32321                           CAF      06SEC                                 
022417,001305: 23,2272           05173                           TC       TWIDDLE                               
022418,001306: 23,2273           02275                           ADRES    R61C+L2                               
022419,001307: 23,2274           05155                           TC       ENDOFJOB                              
022420,001308: 23,2275           37717        R61C+L2            CAF      PRIO26                                
022421,001309: 23,2276           05105                           TC       FINDVAC                               
022422,001310: 

Page 522

022424,001312: 23,2277  E7,1456                                  EBANK=   LOSCOUNT                              
022425,001313: 23,2277           02127 46067                     2CADR    R61C+L01                              
022426,001314: 23,2301           05261                           TC       TASKOVER                              
022427,001315: 23,2302           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
022428,001316: 23,2303           54272                           CADR     BALLANGS                              
022429,001317: 23,2304           02261                           TC       R61C+L06                              
022430,001318: 23,2305           31142        R61C+L4            CAE      GENRET                                
022431,001319: 23,2306           14640                           TCF      BANKJUMP                              #  EXIT R61
022432,001320: 23,2307           32316        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
022433,001321: 23,2310           70074                           MASK     STATE                                 
022434,001322: 23,2311           00006                           EXTEND                                         
022435,001323: 23,2312           15155                           BZF      ENDOFJOB                              #  NO-EXIT ROUTINE AND PROGRAM.
022436,001324: 23,2313           02261                           TC       R61C+L06                              #  YES EXIT ROUTINE
022437,001325: 23,2314           04635        R65WAIT            TC       POSTJUMP                              
022438,001326: 23,2315           50232                           CADR     P20LEMWT                              
022439,001327: 
022440,001328: 
022441,001329: 23,2316           00500        BIT7+9PV           OCT      00500                                 
022442,001330: 23,2317           17350 34602  COS15DEG           2DEC     0.96593    B-1                        
022443,001331: 23,2321           01130        06SEC              DEC      600        B-14                       
022444,001332: 23,2322                        PHI                EQUALS   20D                                   
022445,001333: 23,2322           00004        READCDUD           INHINT                                         #  READS DESIRED CDU'S AND STORES IN
022446,001334: 23,2323           35015                           CAF      EBANK6                                #  MPAC TP EXITS WITH MODE SET TO TP
022447,001335: 23,2324           56003                           XCH      EBANK                                 
022448,001336: 23,2325           54070                           TS       RUPTREG1                              
022449,001337: 23,2326  E6,1635                                  EBANK=   CDUXD                                 
022450,001338: 23,2326           31635                           CA       CDUXD                                 
022451,001339: 23,2327           54154                           TS       MPAC                                  
022452,001340: 23,2330           00006                           EXTEND                                         
022453,001341: 23,2331           31637                           DCA      CDUYD                                 
022454,001342: 23,2332           52156                           DXCH     MPAC       +1                         
022455,001343: 23,2333           30070                           CA       RUPTREG1                              
022456,001344: 23,2334           54003                           TS       EBANK                                 
022457,001345: 23,2335           00003                           RELINT                                         
022458,001346: 23,2336           16502                           TCF      TMODE                                 
022459,001347:    4512                                           BLOCK    02                                    
022460,001348:    4000                                           SETLOC   RADARFF                               
022461,001349:    4000                                           BANK                                           
022462,001350: 
022463,001351:    4512  E7,1456                                  EBANK=   LOSCOUNT                              
022464,001352:    4512                                           COUNT*   $$/RRSUB                              
022465,001353: 

Page 523

022467,001355:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022468,001356:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022469,001357: 
022470,001358:    4512           00006        MAGSUB             EXTEND                                         
022471,001359:    4513           64515                           BZMF     +2                                    
022472,001360:    4514           14516                           TCF      +2                                    
022473,001361:    4515           40000                           COM                                            
022474,001362: 
022475,001363:    4516           50002                           INDEX    Q                                     
022476,001364:    4517           60000                           AD       0                                     
022477,001365:    4520           00006                           EXTEND                                         
022478,001366:    4521           66744                           BZMF     Q+2                                   #  ABS(A) <= CONST  GO TO L+3
022479,001367:    4522           16742                           TCF      Q+1                                   #  ABS(A) >  CONST  GO TO L+2
022480,001368: 

Page 524

022482,001370:                                                                                                  #  PROGRAM NAME_  RRLIMCHK                                                  ARE IN THE LIMITS OF THE CURRENT MODE.
022483,001371: 
022484,001372:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022485,001373:                                                                                                  #  RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022486,001374:                                                                                                  #  THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022487,001375:                                                                                                  #  SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022488,001376:                                                                                                  #  ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022489,001377:                                                                                                  #  MODE 1 AND =1 FOR MODE 2.
022490,001378:                                                                                                  #  MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022491,001379:                                                                                                  #  BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022492,001380:                                                                                                  #  THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022493,001381:                                                                                                  #  IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022494,001382:                                                                                                  #  MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022495,001383:                                                                                                  #  BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022496,001384:                                                                                                  #  LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022497,001385:                                                                                                  #  AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022498,001386:                                                                                                  #  TO L +3.
022499,001387: 
022500,001388:                                                                                                  #  CALLING SEQUENCE:
022501,001389:                                                                                                  #  L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
022502,001390:                                                                                                  #  L +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
022503,001391: 
022504,001392:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022505,001393:                                                                                                  #  RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022506,001394:                                                                                                  #  ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022507,001395:                                                                                                  #  CURRENT EBANK).
022508,001396: 
022509,001397:                                                                                                  #  SUBROUTINES CALLED_  MAGSUB
022510,001398: 
022511,001399:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022512,001400: 
022513,001401:                                                                                                  #  ALARMS_  NONE
022514,001402: 
022515,001403:                                                                                                  #  EXIT_  L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022516,001404:                                                                                                  #  L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022517,001405: 
022518,001406:    4523           00006        RRLIMCHK           EXTEND                                         
022519,001407:    4524           50002                           INDEX    Q                                     
022520,001408:    4525           50000                           INDEX    0                                     
022521,001409:    4526           30001                           DCA      0                                     
022522,001410:    4527           24002                           INCR     Q                                     
022523,001411:    4530           52062                           DXCH     ITEMP1                                
022524,001412:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
022525,001413: 
022526,001414:    4532           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
022527,001415:    4533           70110                           MASK     RADMODES                              
022528,001416:    4534           10000                           CCS      A                                     
022529,001417:    4535           14550                           TCF      MODE2CHK                              
022530,001418: 
022531,001419:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS
022532,001420: 

Page 525

022534,001422:    4537           04512                           TC       MAGSUB                                #      1. ABS(T) L 55 DEGS.
022535,001423:    4540           66161                           DEC      -.30555                               #      2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022536,001424:    4541           00001                           TC       L                                     #          (SHAFT LIMITS AT +59, -70 DEGS)
022537,001425: 
022538,001426:    4542           34562                           CAF      5.5DEGS                               
022539,001427:    4543           60062                           AD       ITEMP2                                #  S
022540,001428:    4544           04512                           TC       MAGSUB                                
022541,001429:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
022542,001430:    4546           00001                           TC       L                                     
022543,001431:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
022544,001432: 
022545,001433:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
022546,001434:    4551           60062                           AD       ITEMP2                                #      1. ABS(T) G 125 DEGS.
022547,001435:    4552           04512                           TC       MAGSUB                                #      2. ABS(S + 82 DEGS) L 57 DEGS
022548,001436:    4553           65673                           DEC      -.31667                               #          (SHAFT LIMITS AT -25, -139 DEGS)
022549,001437:    4554           00001                           TC       L                                     
022550,001438: 
022551,001439:    4555           30061                           CA       ITEMP1                                
022552,001440:    4556           04512                           TC       MAGSUB                                
022553,001441:    4557           51615                           DEC      -.69444                               #  125 DEGS
022554,001442: 
022555,001443:    4560           50001        RRLIMOK            INDEX    L                                     
022556,001444:    4561           00001                           TC       L                                     #  ( = TC 1 )
022557,001445: 
022558,001446:    4562           00765        5.5DEGS            DEC      .03056                                
022559,001447:    4563           16450        82DEGS             DEC      .45556                                
022560,001448: 

Page 526

022562,001450:                                                                                                  #  PROGRAM NAME_  SETTRKF                                                  . IF EITHER:
022563,001451: 
022564,001452:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022565,001453:                                                                                                  #  SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.                      HER THE ALT OR VEL INFORMATION.
022566,001454:                                                                                                  #  INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022567,001455:                                                                                                  #  IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022568,001456:                                                                                                  #  IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022569,001457:                                                                                                  #  1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022570,001458:                                                                                                  #  AUTO MODE (RADMODES BITS 13, 7, 2).
022571,001459:                                                                                                  #  2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022572,001460:                                                                                                  #  8,5)
022573,001461:                                                                                                  #  3) NO RR DATA (RADMODES BIT 4)
022574,001462:                                                                                                  #  THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022575,001463:                                                                                                  #  IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022576,001464:                                                                                                  #  LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022577,001465:                                                                                                  #  THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022578,001466:                                                                                                  #  TRACKER FAIL LAMP IS TURNED ON IF_
022579,001467:                                                                                                  #  A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022580,001468:                                                                                                  #  B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022581,001469:                                                                                                  #  EITHER THE ALT OR VEL INFORMATION
022582,001470:                                                                                                  #  C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022583,001471:                                                                                                  #  WITH EITHER THE AL
022584,001472: 
022585,001473:                                                                                                  #  CALLING SEQUENCE:
022586,001474:                                                                                                  #  L  TC  SETTRKF
022587,001475: 
022588,001476:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022589,001477:                                                                                                  #  SUBROUTINES CALLED_  NONE
022590,001478: 
022591,001479:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022592,001480: 
022593,001481:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
022594,001482: 
022595,001483:                                                                                                  #  EXIT_  L +1 (ALWAYS)                                                          ED.
022596,001484: 
022597,001485:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
022598,001486:    4565           71300                           MASK     IMODES33                              
022599,001487:    4566           10000                           CCS      A                                     
022600,001488:    4567           00002                           TC       Q                                     
022601,001489: 
022602,001490:    4570           34744        RRTRKF             CA       BIT8                                  
022603,001491:    4571           54001                           TS       L                                     
022604,001492: 
022605,001493:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
022606,001494:    4573           70110                           MASK     RADMODES                              
022607,001495:    4574           00006                           EXTEND                                         
022608,001496:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
022609,001497: 
022610,001498:    4576           34750        RRCHECK            CAF      RRDATABT                              #  SEE IF RR DATA FAILED.
022611,001499:    4577           70110                           MASK     RADMODES                              
022612,001500: 

Page 527

022614,001502:    4600           10000                           CCS      A                                     
022615,001503:    4601           30001        TRKFLON            CA       L                                     
022616,001504:    4602           61035                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
022617,001505:    4603           70001                           MASK     L                                     
022618,001506:    4604           00006                           EXTEND                                         
022619,001507:    4605           16745                           BZF      TCQ                                   #  NO CHANGE.
022620,001508: 
022621,001509:    4606           31035        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
022622,001510:    4607           00006                           EXTEND                                         
022623,001511:    4610           06001                           RXOR     LCHAN                                 
022624,001512:    4611           74733                           MASK     POSMAX                                
022625,001513:    4612           64735                           AD       BIT15                                 
022626,001514:    4613           55035                           TS       DSPTAB     +11D                       
022627,001515:    4614           00002                           TC       Q                                     
022628,001516: 
022629,001517:    4615           10102        13,7,2             OCT      10102                                 
022630,001518:    4616                        ENDRMODF           EQUALS                                         
022631,001519: 

Page 528

022633,001521:                                                                                                  #  PROGRAM NAME_  RRTURNON
022634,001522: 
022635,001523:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022636,001524: 
022637,001525:                                                                                                  #  RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022638,001526:                                                                                                  #  RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022639,001527:                                                                                                  #  INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022640,001528:                                                                                                  #  ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022641,001529:                                                                                                  #  WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022642,001530:                                                                                                  #  (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022643,001531:                                                                                                  #  INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022644,001532:                                                                                                  #  TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022645,001533:                                                                                                  #  SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022646,001534:                                                                                                  #  FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022647,001535:                                                                                                  #  RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022648,001536:                                                                                                  #  TO TASKOVER.
022649,001537: 
022650,001538:                                                                                                  #  CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022651,001539:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022652,001540:                                                                                                  #  THE RR (STATE BIT 7).
022653,001541: 
022654,001542:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022655,001543:                                                                                                  #  RADMODES, STATE
022656,001544: 
022657,001545:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022658,001546: 
022659,001547:                                                                                                  #  JOBS OR TASKS INITIATED_
022660,001548:                                                                                                  #  NONE
022661,001549: 
022662,001550:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
022663,001551: 
022664,001552:                                                                                                  #  EXIT_   TASKOVER, ENDRADAR (WAITING PROGRAM)
022665,001553: 
022666,001554: 24,3255                                           BANK     24                                    
022667,001555: 25,2000                                           SETLOC   P20S1                                 
022668,001556: 25,2000                                           BANK                                           
022669,001557: 
022670,001558: 25,2073  E7,1456                                  EBANK=   LOSCOUNT                              
022671,001559: 25,2073                                           COUNT*   $$/RSUB                               
022672,001560: 25,2073           02102        RRTURNON           TC       RRZEROSB                              
022673,001561: 25,2074           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022674,001562: 25,2075           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
022675,001563: 25,2076           44753                           CS       TURNONBT                              
022676,001564: 25,2077           70110                           MASK     RADMODES                              
022677,001565: 25,2100           54110                           TS       RADMODES                              
022678,001566: 25,2101           15261                           TCF      TASKOVER                              
022679,001567: 

Page 529

022681,001569:                                                                                                  #  PROGRAM NAME_  RRZEROSB
022682,001570: 
022683,001571:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022684,001572:                                                                                                  #  RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022685,001573:                                                                                                  #  DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022686,001574:                                                                                                  #  LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022687,001575:                                                                                                  #  BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022688,001576:                                                                                                  #  RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022689,001577:                                                                                                  #  WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022690,001578:                                                                                                  #  REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022691,001579:                                                                                                  #  TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022692,001580:                                                                                                  #  RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022693,001581:                                                                                                  #  CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022694,001582:                                                                                                  #  ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022695,001583:                                                                                                  #  RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022696,001584:                                                                                                  #  IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022697,001585:                                                                                                  #  INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022698,001586:                                                                                                  #  SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022699,001587: 
022700,001588:                                                                                                  #  CALLING SEQUENCE: L  TC  RRZEROSB (FROM RRTURNON AND RRZERO)
022701,001589:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022702,001590:                                                                                                  #  RADMODES (BIT 13 SET), DSPTAB +11D
022703,001591: 
022704,001592:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
022705,001593: 
022706,001594:                                                                                                  #  JOBS OR TASKS INITIATED_
022707,001595:                                                                                                  #  NONE
022708,001596: 
022709,001597:                                                                                                  #  ALARMS_  TRACKER FAIL
022710,001598: 
022711,001599:                                                                                                  #  EXIT_  L +1 (ALWAYS)
022712,001600: 
022713,001601: 25,2102           00006        RRZEROSB           EXTEND                                         
022714,001602: 25,2103           23312                           QXCH     RRRET                                 
022715,001603: 25,2104           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
022716,001604: 25,2105           00006                           EXTEND                                         #  COMING HERE.
022717,001605: 25,2106           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
022718,001606: 25,2107           05221                           TC       FIXDELAY                              
022719,001607: 25,2110           00002                           DEC      2          B-14                       
022720,001608: 
022721,001609: 25,2111           34755                           CAF      ZERO                                  
022722,001610: 25,2112           54035                           TS       CDUT                                  
022723,001611: 25,2113           54036                           TS       CDUS                                  
022724,001612: 25,2114           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
022725,001613: 25,2115           00006                           EXTEND                                         
022726,001614: 25,2116           03012                           WAND     CHAN12                                
022727,001615: 25,2117           05221                           TC       FIXDELAY                              
022728,001616: 25,2120           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
022729,001617: 
022730,001618: 25,2121           44737                           CS       RCDU0BIT                              #  REMOVE ZEROING IN PROCESS BIT.
022731,001619: 

Page 530

022733,001621: 25,2122           70110                           MASK     RADMODES                              
022734,001622: 25,2123           54110                           TS       RADMODES                              
022735,001623: 
022736,001624: 25,2124           30035                           CA       CDUT                                  
022737,001625: 25,2125           04512                           TC       MAGSUB                                
022738,001626: 25,2126           57777                           DEC      -.5                                   
022739,001627: 25,2127           12132                           TCF      +3                                    #  IF MODE 2.
022740,001628: 
022741,001629: 25,2130           34755                           CAF      ZERO                                  
022742,001630: 25,2131           12133                           TCF      +2                                    
022743,001631: 25,2132           34740                           CAF      ANTENBIT                              
022744,001632: 25,2133           56110                           XCH      RADMODES                              
022745,001633: 25,2134           77744                           MASK     -BIT12                                
022746,001634: 25,2135           26110                           ADS      RADMODES                              
022747,001635: 
022748,001636: 25,2136           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
022749,001637: 
022750,001638: 25,2137           01312                           TC       RRRET                                 #  DONE.
022751,001639: 
022752,001640: 25,2140     7744               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
022753,001641: 

Page 531

022755,001643:                                                                                                  #  PROGRAM NAME_  DORREPOS
022756,001644:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022757,001645:                                                                                                  #  DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022758,001646:                                                                                                  #  TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022759,001647:                                                                                                  #  ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022760,001648:                                                                                                  #  AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022761,001649:                                                                                                  #  DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022762,001650:                                                                                                  #  TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022763,001651:                                                                                                  #  PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022764,001652:                                                                                                  #  CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022765,001653:                                                                                                  #  RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022766,001654:                                                                                                  #  TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022767,001655:                                                                                                  #  DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022768,001656:                                                                                                  #  MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022769,001657:                                                                                                  #  CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022770,001658:                                                                                                  #  -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022771,001659:                                                                                                  #  REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022772,001660:                                                                                                  #  FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022773,001661:                                                                                                  #  REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022774,001662:                                                                                                  #  REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022775,001663:                                                                                                  #  BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022776,001664:                                                                                                  #  INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022777,001665:                                                                                                  #  COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022778,001666:                                                                                                  #  TASKOVER.
022779,001667: 
022780,001668:                                                                                                  #  CALLING SEQUENCE:
022781,001669:                                                                                                  #  WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022782,001670:                                                                                                  #  NOT WITHIN LIMITS OF CURRENT MODE.
022783,001671: 
022784,001672:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022785,001673:                                                                                                  #  RADMODES
022786,001674: 
022787,001675:                                                                                                  #  SUBROUTINES CALLED_
022788,001676:                                                                                                  #  RRTONLY, RRSONLY, BEGDES (EXIT)
022789,001677: 
022790,001678:                                                                                                  #  JOBS OR TASKS INITIATED_
022791,001679:                                                                                                  #  NONE
022792,001680: 
022793,001681:                                                                                                  #  ALARMS-  NONE
022794,001682: 
022795,001683:                                                                                                  #  EXIT_  TASKOVER, BEGDES
022796,001684: 
022797,001685: 25,2140           02167        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
022798,001686: 
022799,001687:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022800,001688: 
022801,001689: 25,2141           05221                           TC       FIXDELAY                              
022802,001690: 25,2142           00002                           DEC      2          B-14                       
022803,001691: 
022804,001692: 25,2143           34740                           CAF      ANTENBIT                              #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.
022805,001693: 

Page 532

022807,001695: 25,2144           70110                           MASK     RADMODES                              
022808,001696: 25,2145           10000                           CCS      A                                     
022809,001697: 25,2146           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
022810,001698: 25,2147           02252                           TC       RRTONLY                               
022811,001699: 
022812,001700: 25,2150           34740                           CAF      ANTENBIT                              #  NOW PUT SHAFT IN RIGHT POSITION
022813,001701: 25,2151           70110                           MASK     RADMODES                              
022814,001702: 25,2152           10000                           CCS      A                                     
022815,001703: 25,2153           44736                           CS       HALF                                  #  -90 FOR MODE 2.
022816,001704: 25,2154           02255                           TC       RRSONLY                               
022817,001705: 
022818,001706: 25,2155           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
022819,001707:                                                                                                  #  REQUESTED DURING REPOSITION.
022820,001708: 25,2156           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
022821,001709: 25,2157           54110                           TS       RADMODES                              
022822,001710: 25,2160           74742                           MASK     DESIGBIT                              #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
022823,001711: 25,2161           10000                           CCS      A                                     
022824,001712: 25,2162           12604                           TCF      BEGDES                                
022825,001713: 25,2163           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
022826,001714: 25,2164           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
022827,001715: 25,2165           03012                           WAND     CHAN12                                
022828,001716: 25,2166           15261                           TCF      TASKOVER                              
022829,001717: 
022830,001718: 25,2167           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
022831,001719: 25,2170           00006                           EXTEND                                         
022832,001720: 25,2171           02012                           RAND     CHAN12                                
022833,001721: 25,2172           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
022834,001722: 25,2173           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
022835,001723: 
022836,001724: 25,2174           54112                           TS       LASTYCMD                              
022837,001725: 25,2175           54113                           TS       LASTXCMD                              
022838,001726: 25,2176           34752                           CAF      BIT2                                  
022839,001727: 25,2177           00006                           EXTEND                                         
022840,001728: 25,2200           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
022841,001729: 25,2201           00002                           TC       Q                                     
022842,001730: 

Page 533

022844,001732:                                                                                                  #  PROGRAM NAME_  REMODE                                                 IVES SHAFT TO -45, AND FINALLY DRIVES
022845,001733: 
022846,001734:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                               S DONE WITH SINGLE AXIS ROTATIONS (SEE
022847,001735:                                                                                                  #  REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022848,001736:                                                                                                  #  TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022849,001737:                                                                                                  #  180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022850,001738:                                                                                                  #  DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022851,001739:                                                                                                  #  TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022852,001740:                                                                                                  #  INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022853,001741:                                                                                                  #  AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022854,001742:                                                                                                  #  (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022855,001743:                                                                                                  #  RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022856,001744:                                                                                                  #  OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022857,001745:                                                                                                  #  THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022858,001746:                                                                                                  #  (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022859,001747:                                                                                                  #  TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022860,001748:                                                                                                  #  DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022861,001749:                                                                                                  #  -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022862,001750:                                                                                                  #  IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022863,001751:                                                                                                  #  RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022864,001752:                                                                                                  #  IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022865,001753:                                                                                                  #  THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022866,001754: 
022867,001755:                                                                                                  #  CALLING SEQUENCE:
022868,001756:                                                                                                  #  FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022869,001757:                                                                                                  #  THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022870,001758:                                                                                                  #  DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022871,001759:                                                                                                  #  OTHER MODE.
022872,001760: 
022873,001761:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022874,001762:                                                                                                  #  RADMODES
022875,001763: 
022876,001764:                                                                                                  #  SUBROUTINES CALLED_
022877,001765:                                                                                                  #  RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022878,001766: 
022879,001767:                                                                                                  #  JOBS OR TASKS INITIATED_
022880,001768:                                                                                                  #  NONE
022881,001769: 
022882,001770:                                                                                                  #  ALARMS_  NONE
022883,001771: 
022884,001772:                                                                                                  #  EXIT_  STDESIG
022885,001773: 
022886,001774: 25,2202           34740        REMODE             CAF      ANTENBIT                              #  DRIVE TRUNNION TO 0 (180)
022887,001775: 25,2203           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
022888,001776: 25,2204           10000                           CCS      A                                     
022889,001777: 25,2205           34735                           CAF      BIT15                                 
022890,001778: 25,2206           02252                           TC       RRTONLY                               
022891,001779: 
022892,001780: 25,2207           37743                           CAF      -45DEGSR                              
022893,001781: 25,2210           02255                           TC       RRSONLY                               
022894,001782: 

Page 534

022896,001784: 25,2211           40110                           CS       RADMODES                              
022897,001785: 25,2212           74740                           MASK     ANTENBIT                              
022898,001786: 25,2213           10000                           CCS      A                                     
022899,001787: 25,2214           32243                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
022900,001788: 25,2215           62242                           AD       -50DEGSR                              
022901,001789: 25,2216           02252                           TC       RRTONLY                               
022902,001790: 
022903,001791: 25,2217           40110                           CS       RADMODES                              
022904,001792: 25,2220           74740                           MASK     ANTENBIT                              
022905,001793: 25,2221           10000                           CCS      A                                     
022906,001794: 25,2222           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
022907,001795: 25,2223           02252                           TC       RRTONLY                               
022908,001796: 
022909,001797: 25,2224           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
022910,001798: 25,2225           74740                           MASK     ANTENBIT                              
022911,001799: 25,2226           10000                           CCS      A                                     
022912,001800: 25,2227           44736                           CS       HALF                                  
022913,001801: 25,2230           02255                           TC       RRSONLY                               
022914,001802: 
022915,001803: 25,2231           02244                           TC       RMODINV                               
022916,001804: 
022917,001805: 25,2232           44736                           CS       REMODBIT                              #  END OF REMODE.
022918,001806: 25,2233           70110                           MASK     RADMODES                              
022919,001807: 25,2234           54110                           TS       RADMODES                              
022920,001808: 
022921,001809: 25,2235           34742                           CAF      DESIGBIT                              #  WAS REMODE CALLED DURING DESIGNATE?
022922,001810: 25,2236           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
022923,001811: 25,2237           00006                           EXTEND                                         
022924,001812: 25,2240           13540                           BZF      RGOODEND                              #  NO-RETURN TO CALLER WAITING IN RADSTALL
022925,001813: 25,2241           02613                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
022926,001814: 25,2242     7743               -45DEGSR           =        13,14,15                              
022927,001815: 25,2242           67070        -50DEGSR           DEC      -.27778                               
022928,001816: 25,2243           61615        -80DEGSR           DEC      -.44444                               
022929,001817: 
022930,001818: 25,2244           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
022931,001819: 25,2245           34740                           CAF      ANTENBIT                              
022932,001820: 25,2246           00006                           EXTEND                                         
022933,001821: 25,2247           06001                           RXOR     LCHAN                                 
022934,001822: 25,2250           54110                           TS       RADMODES                              
022935,001823: 25,2251           00002                           TC       Q                                     
022936,001824: 

Page 535

022938,001826:                                                                                                  #  PROGRAM NAMES_  RRTONLY, RRSONLY
022939,001827: 
022940,001828:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022941,001829:                                                                                                  #  RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022942,001830:                                                                                                  #  RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022943,001831:                                                                                                  #  WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022944,001832:                                                                                                  #  FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022945,001833:                                                                                                  #  THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022946,001834:                                                                                                  #  THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022947,001835:                                                                                                  #  WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022948,001836:                                                                                                  #  REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022949,001837:                                                                                                  #  OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022950,001838:                                                                                                  #  IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022951,001839:                                                                                                  #  CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022952,001840:                                                                                                  #  TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022953,001841:                                                                                                  #  ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022954,001842:                                                                                                  #  REPEATED.
022955,001843: 
022956,001844:                                                                                                  #  CALLING SEQUENCE: L-1 CAF *ANGLE*  (DESIRED ANGLE SCALED PI)
022957,001845:                                                                                                  #  L  TC  RRTONLY (TRUNNION ONLY)
022958,001846:                                                                                                  #  RRSONLY (SHAFT ONLY)
022959,001847:                                                                                                  #  RRTONLY IS CALLED BY PREPOS29;
022960,001848:                                                                                                  #  RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022961,001849: 
022962,001850:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022963,001851:                                                                                                  #  C(A) = DESIRED ANGLE, RADMODES
022964,001852: 
022965,001853:                                                                                                  #  SUBROUTINES CALLED_
022966,001854:                                                                                                  #  FIXDELAY, REPOSRPT, MAGSUB, RROUT
022967,001855: 
022968,001856:                                                                                                  #  JOBS OR TASKS INITIATED_
022969,001857:                                                                                                  #  NONE
022970,001858: 
022971,001859:                                                                                                  #  ALARMS_  NONE
022972,001860: 
022973,001861:                                                                                                  #  EXIT_  REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022974,001862:                                                                                                  #  BITS 14, 11)
022975,001863:                                                                                                  #  L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022976,001864: 
022977,001865: 25,2252           55313        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
022978,001866: 25,2253           34755                           CAF      ZERO                                  
022979,001867: 25,2254           12257                           TCF      RR1AXIS                               
022980,001868: 
022981,001869: 25,2255           55313        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022982,001870: 25,2256           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022983,001871: 
022984,001872: 25,2257           55314        RR1AXIS            TS       RRINDEX                               
022985,001873: 25,2260           00006                           EXTEND                                         
022986,001874: 25,2261           23312                           QXCH     RRRET                                 
022987,001875: 25,2262           12265                           TCF      RR1AX2                                
022988,001876: 

Page 536

022990,001878: 25,2263           05221        NXTRR1AX           TC       FIXDELAY                              
022991,001879: 25,2264           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
022992,001880: 
022993,001881: 25,2265           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
022994,001882: 25,2266           77713                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
022995,001883: 25,2267           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
022996,001884: 25,2270           12155                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
022997,001885: 
022998,001886: 25,2271           31313                           CA       RDES                                  
022999,001887: 25,2272           00006                           EXTEND                                         
023000,001888: 25,2273           51314                           INDEX    RRINDEX                               
023001,001889: 25,2274           20035                           MSU      CDUT                                  
023002,001890: 25,2275           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
023003,001891: 25,2276           00006                           EXTEND                                         
023004,001892: 25,2277           72316                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
023005,001893: 25,2300           54001                           TS       L                                     
023006,001894: 25,2301           30110                           CA       RADMODES                              
023007,001895: 25,2302           74752                           MASK     AUTOMBIT                              
023008,001896: 25,2303           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
023009,001897: 25,2304           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
023010,001898: 25,2305           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
023011,001899: 
023012,001900: 25,2306           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
023013,001901: 25,2307           01312                           TC       RRRET                                 #  RETURN TO CALLER.
023014,001902: 
023015,001903: 25,2310           11314                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
023016,001904: 25,2311           12313                           TCF      +2                                    #  SETTING A TO 0.
023017,001905: 25,2312           56001                           XCH      L                                     
023018,001906: 25,2313           53355                           DXCH     TRUNNCMD                              
023019,001907: 25,2314           02317                           TC       RROUT                                 
023020,001908: 
023021,001909: 25,2315           12263                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
023022,001910: 
023023,001911: 25,2316           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
023024,001912: 

Page 537

023026,001914:                                                                                                  #  PROGRAM NAME_  RROUT                                                          RROR COUNTER SCALING. RROUT LIMITS THEM
023027,001915: 
023028,001916:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023029,001917:                                                                                                  #  RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023030,001918:                                                                                                  #  ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023031,001919:                                                                                                  #  GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023032,001920:                                                                                                  #  TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023033,001921:                                                                                                  #  THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023034,001922:                                                                                                  #  384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023035,001923:                                                                                                  #  LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023036,001924:                                                                                                  #  THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023037,001925:                                                                                                  #  THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023038,001926:                                                                                                  #  THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023039,001927:                                                                                                  #  PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023040,001928:                                                                                                  #  OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023041,001929:                                                                                                  #  ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023042,001930: 
023043,001931:                                                                                                  #  CALLING SEQUENCE:
023044,001932:                                                                                                  #  L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023045,001933:                                                                                                  #  RRTONLY, RRSONLY, AND DODES
023046,001934: 
023047,001935:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023048,001936:                                                                                                  #  TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023049,001937:                                                                                                  #  (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023050,001938: 
023051,001939:                                                                                                  #  SUBROUTINES CALLED_
023052,001940:                                                                                                  #  MAGSUB
023053,001941: 
023054,001942:                                                                                                  #  JOBS OR TASKS INITIATED_
023055,001943:                                                                                                  #  NONE
023056,001944: 
023057,001945:                                                                                                  #  ALARMS_  NONE
023058,001946: 
023059,001947:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                                         SIRED VALUES. RUPT MUST BE INHIBITED.
023060,001948: 
023061,001949: 25,2317           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
023062,001950: 25,2320           34753                           CAF      ONE                                   #  LOOP TWICE.
023063,001951: 25,2321           54062        RROUT2             TS       ITEMP2                                
023064,001952: 25,2322           50000                           INDEX    A                                     
023065,001953: 25,2323           31354                           CA       TRUNNCMD                              
023066,001954: 25,2324           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
023067,001955: 
023068,001956: 25,2325           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
023069,001957: 25,2326           77177        -RRLIMIT           DEC      -384       B-14                       
023070,001958: 25,2327           12346                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
023071,001959: 
023072,001960: 25,2330           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
023073,001961: 25,2331           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
023074,001962: 25,2332           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
023075,001963: 25,2333           40000                           COM                                            
023076,001964: 

Page 538

023078,001966: 25,2334           60061                           AD       ITEMP1                                
023079,001967: 25,2335           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
023080,001968: 25,2336           50062                           INDEX    ITEMP2                                
023081,001969: 25,2337           54053                           TS       CDUTCMD                               
023082,001970: 
023083,001971: 25,2340           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
023084,001972: 25,2341           12321                           TCF      RROUT2                                
023085,001973: 
023086,001974: 25,2342           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
023087,001975: 25,2343           00006                           EXTEND                                         
023088,001976: 25,2344           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
023089,001977: 25,2345           00001                           TC       L                                     #  RETURN.
023090,001978: 
023091,001979: 25,2346           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
023092,001980: 25,2347           42326                           CS       -RRLIMIT                              
023093,001981: 25,2350           12352                           TCF      +2                                    
023094,001982: 25,2351           32326                           CA       -RRLIMIT                              
023095,001983: 25,2352           54061                           TS       ITEMP1                                
023096,001984: 25,2353           12331                           TCF      SETRRCTR   +1                         
023097,001985: 

Page 539

023099,001987:                                                                                                  #           ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023100,001988: 
023101,001989: 25,2354           32403        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
023102,001990: 25,2355           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
023103,001991: 25,2356           10000                           CCS      A                                     
023104,001992: 25,2357           13513                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
023105,001993: 
023106,001994: 25,2360           00004                           INHINT                                         
023107,001995: 25,2361           44737                           CS       RCDU0BIT                              #  SET FLAG TO SHOW ZEROING IN PROGRESS.
023108,001996: 25,2362           70110                           MASK     RADMODES                              
023109,001997: 25,2363           64737                           AD       RCDU0BIT                              
023110,001998: 25,2364           54110                           TS       RADMODES                              
023111,001999: 
023112,002000: 25,2365           34753                           CAF      ONE                                   
023113,002001: 25,2366           05203                           TC       WAITLIST                              
023114,002002: 25,2367  E7,1456                                  EBANK=   LOSCOUNT                              
023115,002003: 25,2367           02401 52067                     2CADR    RRZ2                                  
023116,002004: 25,2371           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
023117,002005: 25,2372           74752                           MASK     AUTOMBIT                              
023118,002006: 25,2373           10000                           CCS      A                                     
023119,002007: 25,2374           12377                           TCF      ROADBACK                              
023120,002008: 25,2375           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
023121,002009: 25,2376           00510                           OCT      510                                   
023122,002010: 25,2377           00003        ROADBACK           RELINT                                         
023123,002011: 25,2400           14631                           TCF      SWRETURN                              
023124,002012: 
023125,002013: 25,2401           02102        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
023126,002014: 25,2402           13531                           TCF      ENDRADAR                              
023127,002015: 
023128,002016: 25,2403           02001        BIT11+1            OCT      02001                                 
023129,002017: 

Page 540

023131,002019:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                        R (HALF-UNIT) IN RRTARGET. REMODES IF
023132,002020: 
023133,002021:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023134,002022:                                                                                                  #  THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023135,002023:                                                                                                  #  WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023136,002024:                                                                                                  #  (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023137,002025:                                                                                                  #  ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023138,002026:                                                                                                  #  TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023139,002027:                                                                                                  #  MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023140,002028:                                                                                                  #  RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023141,002029:                                                                                                  #  TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023142,002030:                                                                                                  #  RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023143,002031:                                                                                                  #  PRESENT MODE ARE WITHIN LIMITS.  IF WITHIN LIMITS, THE RETURN
023144,002032:                                                                                                  #  LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023145,002033:                                                                                                  #  REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023146,002034:                                                                                                  #  CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023147,002035:                                                                                                  #  ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023148,002036:                                                                                                  #  TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023149,002037:                                                                                                  #  LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023150,002038:                                                                                                  #  THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023151,002039:                                                                                                  #  INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023152,002040:                                                                                                  #  EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023153,002041:                                                                                                  #  OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023154,002042:                                                                                                  #  BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023155,002043:                                                                                                  #  TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023156,002044: 
023157,002045:                                                                                                  #  CALLING SEQUENCE:
023158,002046:                                                                                                  #  L  STCALL  RRTARGET  (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023159,002047:                                                                                                  #  L+1  RRDESSM
023160,002048:                                                                                                  #  L+2  BASIC  (VEHICLE MANEUVER REQUIRED)
023161,002049:                                                                                                  #  L+3  BASIC  (NO VEHICLE MANEUVER REQUIRED)
023162,002050: 
023163,002051:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023164,002052:                                                                                                  #  RRTARGET, RADMODES
023165,002053: 
023166,002054:                                                                                                  #  SUBROUTINES CALLED_
023167,002055:                                                                                                  #  READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023168,002056:                                                                                                  #  PART OF), RMODINV
023169,002057: 
023170,002058:                                                                                                  #  JOBS OR TASKS INITIATED_
023171,002059:                                                                                                  #  NONE
023172,002060: 
023173,002061:                                                                                                  #  ALARMS_  NONE
023174,002062: 
023175,002063:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023176,002064:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023177,002065:                                                                                                  #  TO L+3 FROM STARTDES)                                                    CAN BE DONE IN PRESENT VEH ATTITUDE.
023178,002066: 
023179,002067: 25,2404           43020        RRDESSM            STQ      CLEAR                                 
023180,002068: 25,2405           01112                                    DESRET                                
023181,002069: 

Page 541

023183,002071: 25,2406           00271                                    RRNBSW                                
023184,002072: 25,2407           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
023185,002073: 25,2410           47541                                    CDUTRIG                               
023186,002074: 25,2411           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
023187,002075: 25,2412           01101                                    RRTARGET                              
023188,002076: 25,2413           47673                                    *SMNB*                                
023189,002077: 
023190,002078: 25,2414           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
023191,002079: 25,2415           26133                                    RRANGLES                              #  ALTERNATE MODE.
023192,002080: 25,2416           77776                           EXIT                                           
023193,002081: 
023194,002082: 25,2417           00004                           INHINT                                         
023195,002083: 25,2420           04523                           TC       RRLIMCHK                              
023196,002084: 25,2421           01106                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
023197,002085: 25,2422           02425                           TC       +3                                    #  NOT IN CURRENT MODE
023198,002086: 25,2423           25112        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023199,002087: 25,2424           02443                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
023200,002088: 25,2425           40104                           CS       FLAGWRD8                              
023201,002089: 25,2426           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023202,002090: 25,2427           00006                           EXTEND                                         
023203,002091: 25,2430           12467                           BZF      NORDSTAL                              #  BRANCH-YES-CANNOT DESIGNATE IN MODE 2
023204,002092: 25,2431           02472                           TC       TRYSWS                                
023205,002093: 
023206,002094: 
023207,002095: 25,2432           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
023208,002096: 25,2433           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
023209,002097: 25,2434           00006                           EXTEND                                         
023210,002098: 25,2435           12467                           BZF      NORDSTAL                              #  BRANCH-YES-RETURN TO CALLER - ALARM 527
023211,002099: 25,2436           30074                           CA       STATE                                 
023212,002100: 25,2437           74745                           MASK     RNDVZBIT                              
023213,002101: 25,2440           10000                           CCS      A                                     #  TEST RNDVZFLG.
023214,002102: 25,2441           02502                           TC       NODESSM                               #  NOT ON MOON-CALL FOR ATTITUDE MANEUVER
023215,002103: 25,2442           15155                           TCF      ENDOFJOB                              #  ...BUT NOT IN R29.
023216,002104: 

Page 542

023218,002106:                                                                                                  #  PROGRAM NAME_  STARTDES                                                 STORED AS A HALF-UNIT VECTOR IN RRTARGET
023219,002107: 
023220,002108:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                 CKON IS DESIRED. BIT14 OF RADMODES IS
023221,002109:                                                                                                  #  STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
023222,002110:                                                                                                  #  BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
023223,002111:                                                                                                  #  AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
023224,002112:                                                                                                  #  OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023225,002113:                                                                                                  #  ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023226,002114:                                                                                                  #  OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023227,002115:                                                                                                  #  DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023228,002116:                                                                                                  #  THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023229,002117:                                                                                                  #  (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023230,002118:                                                                                                  #  OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023231,002119:                                                                                                  #  THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023232,002120:                                                                                                  #  THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023233,002121:                                                                                                  #  AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023234,002122:                                                                                                  #  ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023235,002123:                                                                                                  #  REQUESTED.  IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023236,002124:                                                                                                  #  WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023237,002125:                                                                                                  #  AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023238,002126:                                                                                                  #  DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023239,002127:                                                                                                  #  COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023240,002128:                                                                                                  #  AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023241,002129: 
023242,002130:                                                                                                  #  CALLING SEQUENCE:
023243,002131:                                                                                                  #  FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023244,002132: 
023245,002133:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023246,002134:                                                                                                  #  RADMODES, (SEE DODES)
023247,002135: 
023248,002136:                                                                                                  #  SUBROUTINES CALLED_
023249,002137:                                                                                                  #  SETRRECR, WAITLIST
023250,002138: 
023251,002139:                                                                                                  #  JOBS OR TASKS INITIATED_
023252,002140:                                                                                                  #  BEGDES
023253,002141: 
023254,002142:                                                                                                  #  ALARMS_  NONE
023255,002143: 
023256,002144:                                                                                                  #  EXIT_  L+3 OF CALLING PROGRAM (SEE RRDESSM)
023257,002145:                                                                                                  #  L+2 OF CALLING PROGRAM (SEE RRDESNB)
023258,002146: 
023259,002147: 25,2443           25112        STARTDES           INCR     DESRET                                
023260,002148: 25,2444           40110                           CS       RADMODES                              
023261,002149: 25,2445           74742                           MASK     DESIGBIT                              
023262,002150: 25,2446           26110                           ADS      RADMODES                              
023263,002151: 25,2447           74741                           MASK     REPOSBIT                              #  SEE IF REPOSITIONING IN PROGRESS.
023264,002152: 25,2450           10000                           CCS      A                                     
023265,002153: 25,2451           12457                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
023266,002154: 
023267,002155: 25,2452           02167                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.
023268,002156: 

Page 543

023270,002158: 25,2453           34752                           CAF      TWO                                   
023271,002159: 25,2454           05203                           TC       WAITLIST                              
023272,002160: 25,2455  E7,1456                                  EBANK=   LOSCOUNT                              
023273,002161: 25,2455           02604 52067                     2CADR    BEGDES                                
023274,002162: 25,2457           31303        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
023275,002163: 25,2460           00006                           EXTEND                                         
023276,002164: 25,2461           12463                           BZF      DESRTRN                               #  YES   SET EXIT
023277,002165: 25,2462           05155                           TC       ENDOFJOB                              #  NO
023278,002166: 25,2463           00003        DESRTRN            RELINT                                         
023279,002167: 25,2464           25112                           INCR     DESRET                                
023280,002168: 25,2465           31112                           CA       DESRET                                
023281,002169: 25,2466           14640                           TCF      BANKJUMP                              
023282,002170: 
023283,002171: 
023284,002172: 25,2467           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE  OUT ANYONE
023285,002173: 25,2470           55303                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
023286,002174: 25,2471           12463                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
023287,002175: 

Page 544

023289,002177:                                                                                                  #           SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023290,002178: 
023291,002179: 25,2472           02244        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
023292,002180: 25,2473           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
023293,002181: 25,2474           01110                           ADRES    MODEB                                 
023294,002182: 25,2475           12502                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
023295,002183: 
023296,002184: 25,2476           02244                           TC       RMODINV                               #  RESET BIT12
023297,002185: 25,2477           34736                           CAF      REMODBIT                              #  SET FLAG FOR REMODE.
023298,002186: 25,2500           26110                           ADS      RADMODES                              
023299,002187: 
023300,002188: 25,2501           12423                           TCF      OKDESSM                               
023301,002189: 
023302,002190: 25,2502           02244        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
023303,002191: 25,2503           25112                           INCR     DESRET                                #  TO CALLER +2
023304,002192: 25,2504           12467                           TCF      NORDSTAL                              
023305,002193: 
023306,002194: 25,2505           00074        MAXTRYS            DEC      60         B-14                       
023307,002195: 

Page 545

023309,002197:                                                                                                  #           DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023310,002198:                                                                                                  #  TANG AND TANG +1.
023311,002199: 
023312,002200: 25,2506           04645        RRDESNB            TC       MAKECADR                              
023313,002201: 25,2507           55112                           TS       DESRET                                
023314,002202: 
023315,002203: 25,2510           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
023316,002204: 25,2511           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
023317,002205: 25,2512           32505                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
023318,002206: 25,2513           55113                           TS       DESCOUNT                              #  FOR DESIGNATE
023319,002207: 25,2514           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
023320,002208: 25,2515           02551                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023321,002209: 25,2516           01106                           ADRES    TANG                                  
023322,002210: 25,2517           12534                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
023323,002211: 
023324,002212: 25,2520           00003        OKDESNB            RELINT                                         
023325,002213: 25,2521           00006                           EXTEND                                         
023326,002214: 25,2522           31107                           DCA      TANG                                  
023327,002215: 25,2523           53753                           DXCH     TANGNB                                
023328,002216: 25,2524           06042                           TC       INTPRET                               
023329,002217: 
023330,002218: 25,2525           77624                           CALL                                           #  GET LOS IN NB COORDS.
023331,002219: 25,2526           46041                                    RRNB                                  
023332,002220: 25,2527           01101                           STORE    RRTARGET                              
023333,002221: 
023334,002222: 25,2530           77414                           SET      EXIT                                  
023335,002223: 25,2531           00071                                    RRNBSW                                
023336,002224: 
023337,002225: 25,2532           00004                           INHINT                                         
023338,002226: 25,2533           12444                           TCF      STARTDES   +1                         
023339,002227: 25,2534           02244        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
023340,002228: 25,2535           02551                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023341,002229: 25,2536           01106                           ADRES    TANG                                  
023342,002230: 25,2537           12544                           TCF      NODESNB                               #  NOT POSSIBLE.
023343,002231: 
023344,002232: 25,2540           02244                           TC       RMODINV                               
023345,002233: 25,2541           34736                           CAF      REMODBIT                              #  CALL FOR REMODE.
023346,002234: 25,2542           26110                           ADS      RADMODES                              
023347,002235: 25,2543           12520                           TCF      OKDESNB                               
023348,002236: 
023349,002237: 25,2544           02244        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
023350,002238: 25,2545           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
023351,002239: 25,2546           00502                           OCT      502                                   
023352,002240: 25,2547           06011                           TC       CLRADMOD                              
023353,002241: 25,2550           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
023354,002242: 
023355,002243: 25,2551           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023356,002244: 25,2552           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
023357,002245: 25,2553           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
023358,002246: 25,2554           00006                           EXTEND                                         
023359,002247: 

Page 546

023361,002249: 25,2555           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
023362,002250: 25,2556           30001                           DCA      0                                     
023363,002251: 25,2557           52062                           DXCH     ITEMP1                                
023364,002252: 25,2560           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
023365,002253: 
023366,002254: 25,2561           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
023367,002255: 25,2562           70110                           MASK     RADMODES                              
023368,002256: 25,2563           10000                           CCS      A                                     
023369,002257: 25,2564           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
023370,002258: 25,2565           30061                           CA       ITEMP1                                
023371,002259: 25,2566           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
023372,002260: 25,2567           66161                           DEC      -.30555                               #    1. ABS(T) L 55 DEGS
023373,002261: 25,2570           00001                           TC       L                                     #    2  SHAFT LIMITS AT +59, -85 DEGS
023374,002262: 
023375,002263: 25,2571           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
023376,002264: 25,2572           00006                           EXTEND                                         
023377,002265: 25,2573           62601                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023378,002266: 25,2574           64562                           AD       5.5DEGS                               
023379,002267: 25,2575           04512        SHAFTLIM           TC       MAGSUB                                
023380,002268: 25,2576           64420                           DEC      -.35833                               #  64.5 DEGREES
023381,002269: 25,2577           00001                           TC       L                                     #  NOT IN LIMITS
023382,002270: 25,2600           04560                           TC       RRLIMOK                               #  IN LIMITS
023383,002271: 25,2601           62603        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023384,002272: 25,2602           12575                           TCF      SHAFTLIM                              
023385,002273: 
023386,002274: 
023387,002275: 25,2603           03512        20.5DEGS           DEC      .11389                                
023388,002276: 

Page 547

023390,002278:                                                                                                  #  PROGRAM NAME_  BEGDES
023391,002279: 
023392,002280:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023393,002281:                                                                                                  #  BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023394,002282:                                                                                                  #  ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023395,002283:                                                                                                  #  REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023396,002284:                                                                                                  #  CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023397,002285:                                                                                                  #  EXECUTED.  IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023398,002286:                                                                                                  #  FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023399,002287:                                                                                                  #  PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023400,002288:                                                                                                  #  AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023401,002289:                                                                                                  #  FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023402,002290:                                                                                                  #  BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023403,002291:                                                                                                  #  MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023404,002292:                                                                                                  #  REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023405,002293:                                                                                                  #  TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023406,002294:                                                                                                  #  IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023407,002295:                                                                                                  #  BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023408,002296:                                                                                                  #  CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023409,002297:                                                                                                  #  IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023410,002298:                                                                                                  #  EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023411,002299:                                                                                                  #  SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023412,002300:                                                                                                  #  RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023413,002301:                                                                                                  #  (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023414,002302:                                                                                                  #  (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023415,002303:                                                                                                  #  TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023416,002304:                                                                                                  #  EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023417,002305:                                                                                                  #  BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023418,002306: 
023419,002307:                                                                                                  #  CALLING SEQUENCE:
023420,002308:                                                                                                  #  WAITLIST CALL FROM STARTDES
023421,002309:                                                                                                  #  TCF BEGDES FROM DORREPOS
023422,002310:                                                                                                  #  TC STDESIG RETURNING, FROM REMODE
023423,002311: 
023424,002312:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023425,002313:                                                                                                  #  DESCOUNT, RADMODES
023426,002314: 
023427,002315:                                                                                                  #  SUBROUTINES CALLED_
023428,002316:                                                                                                  #  ENDRADAR, FINDVAC
023429,002317: 
023430,002318:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
023431,002319: 
023432,002320:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023433,002321:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023434,002322: 
023435,002323:                                                                                                  #  EXIT_  TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023436,002324:                                                                                                  #  ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023437,002325:                                                                                                  #  RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023438,002326: 
023439,002327: 25,2604           40110        BEGDES             CS       RADMODES                              
023440,002328: 

Page 548

023442,002330: 25,2605           74736                           MASK     REMODBIT                              
023443,002331: 25,2606           10000                           CCS      A                                     
023444,002332: 25,2607           02613                           TC       STDESIG                               
023445,002333: 25,2610           02202                           TC       REMODE                                
023446,002334: 25,2611           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
023447,002335: 25,2612           00062                           DEC      50         B-14                       
023448,002336: 
023449,002337: 25,2613           34741        STDESIG            CAF      REPOSBIT                              
023450,002338: 25,2614           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023451,002339: 25,2615           10000                           CCS      A                                     #  OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023452,002340: 25,2616           12634                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
023453,002341: 
023454,002342: 25,2617           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
023455,002343: 25,2620           12623                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
023456,002344: 25,2621           12623                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023457,002345: 25,2622           12640                           TCF      MOREDES    +1                         
023458,002346: 
023459,002347: 25,2623           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
023460,002348: 25,2624           74742                           MASK     DESIGBIT                              #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023461,002349: 25,2625           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023462,002350: 25,2626           13531                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
023463,002351: 
023464,002352: 25,2627           11113        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
023465,002353: 25,2630           12637                           TCF      MOREDES                               
023466,002354: 
023467,002355: 25,2631           42645                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023468,002356: 25,2632           00006                           EXTEND                                         
023469,002357: 25,2633           03012                           WAND     CHAN12                                
023470,002358: 25,2634           05516        BADDES             TC       DOWNFLAG                              
023471,002359: 25,2635           00271                           ADRES    DESIGFLG                              
023472,002360: 25,2636           13545                           TCF      RDBADEND                              
023473,002361: 
023474,002362: 25,2637           55113        MOREDES            TS       DESCOUNT                              
023475,002363: 25,2640           37717                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
023476,002364: 25,2641           05105                           TC       FINDVAC                               
023477,002365: 25,2642  E7,1456                                  EBANK=   LOSCOUNT                              
023478,002366: 25,2642           02646 52067                     2CADR    DODES                                 
023479,002367: 25,2644           12611                           TCF      DESLOOP                               
023480,002368: 
023481,002369: 25,2645           20002        B14+B2             OCT      20002                                 
023482,002370: 

Page 549

023484,002372:                                                                                                  #  PROGRAM NAME_  DODES
023485,002373: 
023486,002374:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023487,002375:                                                                                                  #  DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023488,002376:                                                                                                  #  COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023489,002377:                                                                                                  #  THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023490,002378:                                                                                                  #  NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023491,002379:                                                                                                  #  SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023492,002380:                                                                                                  #  + SHAFT = LOS  . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
023493,002381:                                                                                                  #  -TRUNNION = LOS  . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
023494,002382:                                                                                                  #  THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023495,002383:                                                                                                  #  (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023496,002384:                                                                                                  #  POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023497,002385:                                                                                                  #  SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023498,002386:                                                                                                  #  .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023499,002387:                                                                                                  #  (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023500,002388:                                                                                                  #  THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023501,002389:                                                                                                  #  CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023502,002390:                                                                                                  #  IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023503,002391:                                                                                                  #  OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023504,002392:                                                                                                  #  CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023505,002393:                                                                                                  #  INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023506,002394:                                                                                                  #  CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023507,002395:                                                                                                  #  (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023508,002396:                                                                                                  #  DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023509,002397:                                                                                                  #  (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023510,002398:                                                                                                  #  COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023511,002399:                                                                                                  #  PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023512,002400:                                                                                                  #  LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023513,002401:                                                                                                  #  DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023514,002402:                                                                                                  #  COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023515,002403:                                                                                                  #  CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023516,002404:                                                                                                  #  BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023517,002405:                                                                                                  #  RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023518,002406:                                                                                                  #  PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023519,002407:                                                                                                  #  THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023520,002408:                                                                                                  #  AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023521,002409:                                                                                                  #  IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023522,002410:                                                                                                  #  (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023523,002411:                                                                                                  #  VIA ENDOFJOB.
023524,002412: 
023525,002413:                                                                                                  #  CALLING SEQUENCE:
023526,002414:                                                                                                  #  EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023527,002415: 
023528,002416:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023529,002417:                                                                                                  #  RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023530,002418:                                                                                                  #  LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023531,002419: 
023532,002420:                                                                                                  #  SUBROUTINES CALLED_
023533,002421:                                                                                                  #  READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
023534,002422: 

Page 550

023536,002424: 
023537,002425:                                                                                                  #  JOBS OR TASKS INITIATED_
023538,002426:                                                                                                  #  NONE
023539,002427: 
023540,002428:                                                                                                  #  ALARMS_  NONE
023541,002429: 
023542,002430:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
023543,002431: 
023544,002432: 25,2646           00006        DODES              EXTEND                                         
023545,002433: 25,2647           30036                           DCA      CDUT                                  
023546,002434: 25,2650           53107                           DXCH     TANG                                  
023547,002435: 
023548,002436: 25,2651           06042                           TC       INTPRET                               
023549,002437: 
023550,002438: 25,2652           77201                           SETPD    VLOAD                                 
023551,002439: 25,2653           00001                                    0                                     
023552,002440: 25,2654           01101                                    RRTARGET                              
023553,002441: 25,2655           74214                           BON      VXSC                                  
023554,002442: 25,2656           00311                                    RRNBSW                                
023555,002443: 25,2657           52671                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
023556,002444: 25,2660           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
023557,002445: 25,2661           63372                           VSL1     PDVL                                  
023558,002446: 25,2662           01761                                    LOSVEL                                
023559,002447: 25,2663           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
023560,002448: 25,2664           13101                                    MCTOMS                                
023561,002449: 25,2665           45056                           UNIT     CALL                                  
023562,002450: 25,2666           47541                                    CDUTRIG                               
023563,002451: 25,2667           77624                           CALL                                           
023564,002452: 25,2670           47673                                    *SMNB*                                
023565,002453: 
023566,002454: 25,2671           14041        DONBRD             STODL    32D                                   
023567,002455: 25,2672           01110                                    TANG       +1                         
023568,002456: 25,2673           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
023569,002457: 25,2674           21577                                    CDULOGIC                              #       (-SIN(S)).
023570,002458: 25,2675           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
023571,002459: 25,2676           41546                           COS      PUSH                                  
023572,002460: 25,2677           65205                           DMP      PDDL                                  
023573,002461: 25,2700           00041                                    32D                                   
023574,002462: 25,2701           00045                                    36D                                   
023575,002463: 25,2702           44205                           DMP      BDSU                                  
023576,002464: 25,2703           00001                                    0                                     
023577,002465: 25,2704           77626                           STADR                                          
023578,002466: 25,2705           76667                           STORE    TANG       +1                         #  SHAFT COMMAND
023579,002467: 
023580,002468: 25,2706           47135                           SLOAD    RTB                                   
023581,002469: 25,2707           01107                                    TANG                                  
023582,002470: 25,2710           21577                                    CDULOGIC                              
023583,002471: 25,2711           71406                           PUSH     COS                                   #  COS(T) TO 4.
023584,002472: 25,2712           73525                           PDDL     SIN                                   
023585,002473: 25,2713           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
023586,002474: 25,2714           00003                                    2                                     
023587,002475: 

Page 551

023589,002477: 25,2715           65352                           SL1      PDDL                                  #  DEFINE VECTOR U =  (SIN(T)SIN(S))
023590,002478: 25,2716           00005                                    4                                     #                     (COS(T)      )
023591,002479: 25,2717           41325                           PDDL     DMP                                   #                     (SIN(T)COS(S))
023592,002480: 25,2720           00007                                    6                                     
023593,002481: 25,2721           00001                                    0                                     
023594,002482: 25,2722           55552                           SL1      VDEF                                  
023595,002483: 25,2723           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
023596,002484: 25,2724           00041                                    32D                                   
023597,002485: 

Page 552

023599,002487:                                                                                                  #           AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023600,002488:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023601,002489: 
023602,002490: 25,2725           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
023603,002491: 25,2726           00006                           EXTEND                                         
023604,002492: 25,2727           73075                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023605,002493: 25,2730           55354                           TS       TRUNNCMD                              #  TRUNNION COMMAND FOR RROUT
023606,002494: 25,2731           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
023607,002495: 25,2732           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
023608,002496: 25,2733           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
023609,002497: 25,2734           12737                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
023610,002498: 25,2735           31107                           CA       TANG       +1                         #  SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023611,002499: 25,2736           12740                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
023612,002500: 25,2737           41107                 +3        CS       TANG       +1                         
023613,002501: 25,2740           00006                           EXTEND                                         
023614,002502: 25,2741           73075                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023615,002503: 25,2742           55355                           TS       SHAFTCMD                              #  SHAFT COMMAND FOR RROUT
023616,002504: 25,2743           06042                           TC       INTPRET                               
023617,002505: 
023618,002506: 25,2744           41345                           DLOAD    DMP                                   
023619,002507: 25,2745           00003                                    2                                     #  COS(S).
023620,002508: 25,2746           00005                                    4                                     #  COS(T).
023621,002509: 25,2747           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
023622,002510: 25,2750           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
023623,002511: 25,2751           00001                                    0                                     #  SIN(S).
023624,002512: 25,2752           72405                           DMP      SL1                                   
023625,002513: 25,2753           00005                                    4                                     #  COS(T).
023626,002514: 25,2754           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
023627,002515: 25,2755           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
023628,002516: 25,2756           52761                                    +3                                    
023629,002517: 25,2757           77624                           CALL                                           
023630,002518: 25,2760           47675                                    *NBSM*                                #  GET URR IN SM AXES.
023631,002519: 25,2761           77441                           DOT      EXIT                                  
023632,002520: 25,2762           01101                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
023633,002521: 
023634,002522: 25,2763           00006                           EXTEND                                         
023635,002523: 25,2764           43077                           DCS      COS1/2DG                              
023636,002524: 25,2765           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
023637,002525: 25,2766           10154                           CCS      MPAC                                  
023638,002526: 25,2767           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
023639,002527: 25,2770           12772                           TCF      +2                                    
023640,002528: 25,2771           34753                           CA       ONE                                   
023641,002529: 25,2772           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.
023642,002530: 

Page 553

023644,002532:                                                                                                  #  SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023645,002533: 
023646,002534: 25,2773           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023647,002535: 25,2774           12777                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
023648,002536: 25,2775           12777                           TCF      SIGNLCHK                              #  ERROR SIGNALS
023649,002537: 25,2776           13027                           TCF      DORROUT                               
023650,002538: 25,2777           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023651,002539: 25,3000           13010                           TCF      DGOODCHK                              
023652,002540: 25,3001           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023653,002541: 25,3002           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
023654,002542: 25,3003           10000                           CCS      A                                     
023655,002543: 25,3004           13015                           TCF      RRDESDUN                              
023656,002544: 
023657,002545: 25,3005           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
023658,002546: 25,3006           00006                           EXTEND                                         
023659,002547: 25,3007           05012                           WOR      CHAN12                                
023660,002548: 
023661,002549: 25,3010           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
023662,002550: 25,3011           00006                           EXTEND                                         
023663,002551: 25,3012           02033                           RAND     CHAN33                                
023664,002552: 25,3013           10000                           CCS      A                                     
023665,002553: 25,3014           13027                           TCF      DORROUT                               
023666,002554: 
023667,002555: 25,3015           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023668,002556: 25,3016           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
023669,002557: 25,3017           00004                           INHINT                                         
023670,002558: 25,3020           54110                           TS       RADMODES                              
023671,002559: 
023672,002560: 25,3021           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
023673,002561: 25,3022           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
023674,002562: 25,3023           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
023675,002563: 25,3024           00006                           EXTEND                                         
023676,002564: 25,3025           03012                           WAND     CHAN12                                
023677,002565: 25,3026           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
023678,002566: 
023679,002567: 25,3027           30076        DORROUT            CA       FLAGWRD2                              #  IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023680,002568: 25,3030           77715                           MASK     BIT12,14                              #  ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023681,002569: 25,3031           00006                           EXTEND                                         
023682,002570: 25,3032           13051                           BZF      NOTP20                                
023683,002571: 25,3033           06042                           TC       INTPRET                               
023684,002572: 25,3034           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
023685,002573: 25,3035           01101                                    RRTARGET                              
023686,002574: 25,3036           01767                                    MLOSV                                 
023687,002575: 25,3037           41572                           VSL1     PUSH                                  
023688,002576: 25,3040           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
023689,002577: 25,3041           01761                                    LOSVEL                                #  TO LOS VECTOR
023690,002578: 25,3042           13101                                    MCTOMS                                
023691,002579: 25,3043           53362                           VSR1     VAD                                   
023692,002580: 25,3044           77656                           UNIT                                           
023693,002581: 25,3045           15101                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)
023694,002582: 

Page 554

023696,002584: 25,3046           00045                                    36D                                   
023697,002585: 25,3047           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
023698,002586: 25,3050           77776                           EXIT                                           
023699,002587: 25,3051           00004        NOTP20             INHINT                                         
023700,002588: 25,3052           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
023701,002589: 25,3053           74741                           MASK     REPOSBIT                              #  REPOSITION HAS TAKEN OVER.
023702,002590: 25,3054           10000                           CCS      A                                     
023703,002591: 25,3055           02317                           TC       RROUT                                 
023704,002592: 
023705,002593: 25,3056           30076                           CA       FLAGWRD2                              
023706,002594: 25,3057           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
023707,002595: 25,3060           00006                           EXTEND                                         #  LOS COUNTER
023708,002596: 25,3061           15155                           BZF      ENDOFJOB                              
023709,002597: 25,3062           11456                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
023710,002598: 25,3063           03073                           TC       DODESEND                              #  A NEW LOS
023711,002599: 25,3064           06032                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
023712,002600: 25,3065           52613                           CADR     DESLOOP    +2                         
023713,002601: 25,3066           00003                           RELINT                                         
023714,002602: 25,3067           10067                           CCS      NEWJOB                                
023715,002603: 25,3070           05122                           TC       CHANG1                                
023716,002604: 25,3071           04616                           TC       BANKCALL                              
023717,002605: 25,3072           50732                           CADR     R21LEM2                               
023718,002606: 
023719,002607: 
023720,002608: 25,3073           55456        DODESEND           TS       LOSCOUNT                              
023721,002609: 25,3074           05155                           TC       ENDOFJOB                              
023722,002610: 
023723,002611: 
023724,002612: 25,3075           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
023725,002613: 25,3076     7715               BIT12,14           EQUALS   PRIO24                                #  OCT 24000
023726,002614: 25,3076           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
023727,002615: 25,3100           00310 00000  MCTOMS             2DEC     100        B-13                       
023728,002616: 

Page 555

023730,002618:                                                                                                  #  RADAR READ INITIALIZATION
023731,002619: 
023732,002620:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023733,002621: 
023734,002622: 25,3102           03122        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
023735,002623: 25,3103           00017        ALLREAD            OCT      17                                    
023736,002624: 
023737,002625: 25,3104           03123        LRVELZ             TC       INITREAD                              
023738,002626: 25,3105           00016                           OCT      16                                    
023739,002627: 
023740,002628: 25,3106           03123        LRVELY             TC       INITREAD                              
023741,002629: 25,3107           00015                           OCT      15                                    
023742,002630: 
023743,002631: 25,3110           03123        LRVELX             TC       INITREAD                              
023744,002632: 25,3111           00014                           OCT      14                                    
023745,002633: 
023746,002634: 25,3112           03122        RRRDOT             TC       INITREAD   -1                         
023747,002635: 25,3113           00012                           OCT      12                                    
023748,002636: 
023749,002637: 25,3114           03122        RRRANGE            TC       INITREAD   -1                         
023750,002638: 25,3115           00011                           OCT      11                                    
023751,002639: 
023752,002640:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023753,002641:                                                                                                  #  WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023754,002642: 
023755,002643: 25,3116           55104        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
023756,002644: 25,3117           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
023757,002645: 25,3120           51104                           INDEX    TIMEHOLD                              
023758,002646: 25,3121           13104                           TCF      LRVELZ                                
023759,002647: 

Page 556

023761,002649: 25,3122           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
023762,002650: 25,3123           00004        INITREAD           INHINT                                         
023763,002651: 
023764,002652: 25,3124           55104                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
023765,002653: 25,3125           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023766,002654: 25,3126           74751                           MP       BIT3                                  #  ENCOUNTERED).
023767,002655: 25,3127           53105                           DXCH     TIMEHOLD                              
023768,002656: 
023769,002657: 25,3130           10000                           CCS      A                                     
023770,002658: 25,3131           55110                           TS       NSAMP                                 
023771,002659: 25,3132           64753                           AD       ONE                                   
023772,002660:                                                                                                  #  INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023773,002661:                                                                                                  #                DOUBLE
023774,002662: 25,3133           55077                           TS       SAMPLIM                               
023775,002663: 
023776,002664: 25,3134           33156                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
023777,002665: 25,3135           00006                           EXTEND                                         
023778,002666: 25,3136           02033                           RAND     CHAN33                                
023779,002667: 25,3137           55112                           TS       OLDATAGD                              
023780,002668: 
023781,002669: 25,3140           43103                           CS       ALLREAD                               
023782,002670: 25,3141           00006                           EXTEND                                         
023783,002671: 25,3142           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
023784,002672: 
023785,002673: 25,3143           50002                           INDEX    Q                                     
023786,002674: 25,3144           30000                           CAF      0                                     
023787,002675: 25,3145           04674                           TC       IBNKCALL                              
023788,002676: 25,3146           36000                           CADR     RADSTART                              
023789,002677: 
023790,002678: 25,3147           00006                           EXTEND                                         
023791,002679: 25,3150           30025                           DCA      TIME2                                 
023792,002680: 25,3151           21105                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
023793,002681: 
023794,002682: 25,3152           34755                           CAF      ZERO                                  
023795,002683: 25,3153           54001                           TS       L                                     
023796,002684: 25,3154           53101                           DXCH     SAMPLSUM                              
023797,002685: 25,3155           12377                           TCF      ROADBACK                              
023798,002686: 
023799,002687: 25,3156           00230        DGBITS             OCT      230                                   
023800,002688: 

Page 557

023802,002690:                                                                                                  #  RADAR RUPT READER
023803,002691: 
023804,002692:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023805,002693: 
023806,002694: 25,2000                                           SETLOC   RADARUPT                              
023807,002695: 25,2000                                           BANK                                           
023808,002696: 
023809,002697: 25,3157                                           COUNT*   $$/RRUPT                              
023810,002698: 25,3157           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
023811,002699: 25,3160           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
023812,002700: 25,3161           54016                           TS       BANKRUPT                              
023813,002701: 25,3162           00006                           EXTEND                                         
023814,002702: 25,3163           22012                           QXCH     QRUPT                                 
023815,002703: 
023816,002704: 25,3164           00006                           EXTEND                                         
023817,002705: 25,3165           31454                           DCA      TTOGO                                 #  LOAD TIME TO TIG
023818,002706: 25,3166           53272                           DXCH     TTOTIG                                #  FOR R65 RADAR READING.
023819,002707: 
023820,002708: 25,3167           34757                           CAF      SEVEN                                 
023821,002709: 25,3170           00006                           EXTEND                                         
023822,002710: 25,3171           02013                           RAND     CHAN13                                
023823,002711: 25,3172           55332                           TS       DNINDEX                               
023824,002712: 25,3173           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO,DO NOT STORE
023825,002713: 25,3174           13200                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023826,002714: 25,3175           30046                           CA       RNRAD                                 
023827,002715: 25,3176           51332                           INDEX    DNINDEX                               
023828,002716: 25,3177           55327                           TS       DNRRANGE   -1                         
023829,002717: 25,3200           11077        TRYCOUNT           CCS      SAMPLIM                               
023830,002718: 25,3201           13223                           TCF      PLENTY                                
023831,002719: 25,3202           13206                           TCF      NOMORE                                
023832,002720: 25,3203           05567                           TC       ALARM                                 
023833,002721: 25,3204           00520                           OCT      520                                   
023834,002722: 25,3205           05270                           TC       RESUME                                
023835,002723: 
023836,002724: 25,3206           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
023837,002725: 25,3207           74735                           MASK     LRBYBIT                               
023838,002726: 25,3210           00006                           EXTEND                                         
023839,002727: 25,3211           13220                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
023840,002728: 
023841,002729: 25,3212           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
023842,002730: 25,3213           74743                           MASK     R04FLBIT                              #  IF 1,R04 IS RUNNING. DO NOT ALARM-
023843,002731: 25,3214           00006                           EXTEND                                         
023844,002732: 25,3215           13220                           BZF      BADRAD                                
023845,002733: 
023846,002734: 25,3216           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
023847,002735: 25,3217           00521                           OCT      521                                   
023848,002736: 25,3220           44753        BADRAD             CS       ONE                                   
023849,002737: 25,3221           55077                           TS       SAMPLIM                               
023850,002738: 25,3222           03543                           TC       RDBADEND   -2                         
023851,002739: 25,3223           55077        PLENTY             TS       SAMPLIM                               
023852,002740: 

Page 558

023854,002742: 25,3224           34751                           CAF      BIT3                                  
023855,002743: 25,3225           00006                           EXTEND                                         
023856,002744: 25,3226           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
023857,002745: 25,3227           00006                           EXTEND                                         
023858,002746: 25,3230           13277                           BZF      RENDRAD                               
023859,002747: 
023860,002748: 25,3231           03365                           TC       R77CHECK                              #  R77 QUITS HERE.
023861,002749: 25,3232           36250        VELCHK             CAF      BIN3                                  #  = 00003 OCT
023862,002750: 25,3233           00006                           EXTEND                                         
023863,002751: 25,3234           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
023864,002752: 25,3235           76250                           MASK     BIN3                                  
023865,002753: 25,3236           00006                           EXTEND                                         
023866,002754: 25,3237           13273                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
023867,002755: 
023868,002756: 25,3240           34733                           CAF      POSMAX                                
023869,002757: 25,3241           70046                           MASK     RNRAD                                 
023870,002758: 25,3242           62000                           AD       LVELBIAS                              
023871,002759: 25,3243           54001                           TS       L                                     
023872,002760: 25,3244           30046                           CAE      RNRAD                                 
023873,002761: 25,3245           60000                           DOUBLE                                         
023874,002762: 25,3246           74753                           MASK     BIT1                                  
023875,002763: 25,3247           52064                           DXCH     ITEMP3                                
023876,002764: 
023877,002765: 25,3250           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023878,002766: 25,3251           03425                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
023879,002767:                                                                                                  #  INDEPENDENT OF DATA GOOD.
023880,002768: 
023881,002769: 25,3252           11110                           CCS      NSAMP                                 
023882,002770: 25,3253           03263                           TC       NOEND                                 
023883,002771: 25,3254           44753        GOODRAD            CS       ONE                                   
023884,002772: 25,3255           55077                           TS       SAMPLIM                               
023885,002773: 25,3256           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023886,002774: 25,3257           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
023887,002775: 25,3260           54110                           TS       RADMODES                              
023888,002776: 25,3261           03572                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
023889,002777: 25,3262           03536                           TC       RGOODEND   -2                         
023890,002778: 
023891,002779: 25,3263           55110        NOEND              TS       NSAMP                                 
023892,002780: 25,3264           11077        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
023893,002781: 25,3265           13267                           TCF      +2                                    
023894,002782: 25,3266           13444                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
023895,002783: 25,3267           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
023896,002784: 25,3270           04674                           TC       IBNKCALL                              
023897,002785: 25,3271           36000                           CADR     RADSTART                              
023898,002786: 
023899,002787: 25,3272           05270                           TC       RESUME                                
023900,002788: 
023901,002789: 
023902,002790: 25,3273           34747        LRHEIGHT           CAF      BIT5                                  
023903,002791: 25,3274           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
023904,002792: 

Page 559

023906,002794: 
023907,002795: 25,3275           34743                           CAF      BIT9                                  
023908,002796: 25,3276           03321                           TC       SCALECHK   -1                         
023909,002797: 
023910,002798: 25,3277           34741        RENDRAD            CAF      REPOSBIT                              #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
023911,002799: 25,3300           70110                           MASK     RADMODES                              #  LIMITS.
023912,002800: 25,3301           10000                           CCS      A                                     
023913,002801: 25,3302           13220                           TCF      BADRAD                                
023914,002802: 
023915,002803: 25,3303           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
023916,002804: 25,3304           74745                           MASK     RCDUFBIT                              
023917,002805: 25,3305           10000                           CCS      A                                     
023918,002806: 25,3306           13220                           TCF      BADRAD                                
023919,002807: 
023920,002808: 25,3307           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
023921,002809: 25,3310           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
023922,002810: 
023923,002811: 25,3311           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
023924,002812: 25,3312           00006                           EXTEND                                         
023925,002813: 25,3313           02013                           RAND     CHAN13                                
023926,002814: 25,3314           54002                           TS       Q                                     #  FOR LATER TESTING.
023927,002815: 25,3315           10000                           CCS      A                                     
023928,002816: 25,3316           13320                           TCF      +2                                    
023929,002817: 25,3317           13332                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
023930,002818: 25,3320           34751                           CAF      BIT3                                  
023931,002819: 25,3321           54001                           TS       L                                     
023932,002820: 
023933,002821: 25,3322           00006        SCALECHK           EXTEND                                         
023934,002822: 25,3323           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
023935,002823: 25,3324           56001                           XCH      L                                     
023936,002824: 25,3325           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
023937,002825: 25,3326           00006                           EXTEND                                         
023938,002826: 25,3327           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
023939,002827: 25,3330           10000                           CCS      A                                     
023940,002828: 25,3331           03351                           TC       SCALCHNG                              #  THEY DIFFER
023941,002829: 
023942,002830: 25,3332           34733        RADIN              CAF      POSMAX                                
023943,002831: 25,3333           70046                           MASK     RNRAD                                 
023944,002832: 25,3334           54064                           TS       ITEMP4                                
023945,002833: 
023946,002834: 25,3335           30046                           CAE      RNRAD                                 
023947,002835: 25,3336           60000                           DOUBLE                                         
023948,002836: 25,3337           74753                           MASK     BIT1                                  
023949,002837: 25,3340           54063                           TS       ITEMP3                                
023950,002838: 
023951,002839: 25,3341           10002                           CCS      Q                                     #  SEE IF RR RDOT.
023952,002840: 25,3342           13403                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
023953,002841: 
023954,002842: 25,3343           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
023955,002843: 25,3344           42002                           DCS      RDOTBIAS                              
023956,002844: 25,3345           20064        DASAMPL            DAS      ITEMP3                                
023957,002845: 

Page 560

023959,002847: 25,3346           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
023960,002848: 25,3347           03426                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
023961,002849: 25,3350           03254                           TC       GOODRAD                               
023962,002850: 
023963,002851: 25,3351           22110        SCALCHNG           LXCH     RADMODES                              
023964,002852: 25,3352           64753                           AD       BIT1                                  
023965,002853: 25,3353           00006                           EXTEND                                         
023966,002854: 25,3354           06001                           RXOR     LCHAN                                 
023967,002855: 25,3355           54110                           TS       RADMODES                              
023968,002856: 25,3356           33156                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
023969,002857: 25,3357           00006                           EXTEND                                         
023970,002858: 25,3360           02033                           RAND     CHAN33                                
023971,002859: 25,3361           55112                           TS       OLDATAGD                              
023972,002860: 25,3362           05504                           TC       UPFLAG                                #  SET RNGSCFLG
023973,002861: 25,3363           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
023974,002862: 25,3364           13220                           TCF      BADRAD                                
023975,002863: 
023976,002864:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023977,002865: 
023978,002866: 25,3365           40101        R77CHECK           CS       FLAGWRD5                              
023979,002867: 25,3366           74741                           MASK     R77FLBIT                              
023980,002868: 25,3367           10000                           CCS      A                                     
023981,002869: 25,3370           00002                           TC       Q                                     #  NOT R77
023982,002870: 25,3371           43402                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
023983,002871: 25,3372           70110                           MASK     RADMODES                              
023984,002872: 25,3373           54001                           TS       L                                     
023985,002873: 25,3374           33402                           CA       BITS5,8                               
023986,002874: 25,3375           00006                           EXTEND                                         
023987,002875: 25,3376           02033                           RAND     CHAN33                                
023988,002876: 25,3377           60001                           AD       L                                     
023989,002877: 25,3400           54110                           TS       RADMODES                              
023990,002878: 25,3401           03536                           TC       RGOODEND   -2                         
023991,002879: 25,3402           00220        BITS5,8            OCT      220                                   
023992,002880: 

Page 561

023994,002882:                                                                                                  #  THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023995,002883: 
023996,002884: 25,3403           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
023997,002885: 25,3404           13406                           TCF      +2                                    #  ON HIGH SCALE.
023998,002886: 25,3405           13346                           TCF      DGCHECK2                              
023999,002887: 
024000,002888: 25,3406           31332                           CA       DNINDEX                               
024001,002889: 25,3407           74751                           MASK     BIT3                                  
024002,002890: 25,3410           10000                           CCS      A                                     
024003,002891: 25,3411           13420                           TCF      LRSCK                                 
024004,002892: 
024005,002893: 25,3412           52064                           DXCH     ITEMP3                                
024006,002894: 25,3413           20001                           DDOUBL                                         
024007,002895: 25,3414           20001                           DDOUBL                                         
024008,002896: 25,3415           20001                           DDOUBL                                         
024009,002897: 25,3416           52064                           DXCH     ITEMP3                                
024010,002898: 
024011,002899: 25,3417           13346                           TCF      DGCHECK2                              
024012,002900: 
024013,002901: 25,3420           00006        LRSCK              EXTEND                                         
024014,002902: 25,3421           30064                           DCA      ITEMP3                                
024015,002903: 25,3422           20001                           DDOUBL                                         
024016,002904: 25,3423           20001                           DDOUBL                                         
024017,002905: 25,3424           13345                           TCF      DASAMPL                               
024018,002906: 
024019,002907: 
024020,002908: 25,3425           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
024021,002909: 25,3426           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
024022,002910: 25,3427           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING. IF
024023,002911: 25,3430           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024024,002912: 25,3431           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
024025,002913: 25,3432           71112                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
024026,002914: 25,3433           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024027,002915: 25,3434           57112                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
024028,002916: 25,3435           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
024029,002917: 25,3436           60001                           AD       L                                     
024030,002918: 25,3437           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
024031,002919: 25,3440           03264                           TC       RESAMPLE                              
024032,002920: 25,3441           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
024033,002921: 25,3442           21101                           DAS      SAMPLSUM                              #  ACCUMULATION.
024034,002922: 25,3443           00002                           TC       Q                                     
024035,002923: 
024036,002924: 25,3444           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
024037,002925: 25,3445           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
024038,002926: 25,3446           60061                           AD       ITEMP1                                
024039,002927: 25,3447           54110                           TS       RADMODES                              
024040,002928: 
024041,002929: 25,3450           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
024042,002930: 25,3451           53101                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.
024043,002931: 

Page 562

024045,002933: 25,3452           03572                           TC       RADLITES                              
024046,002934: 25,3453           13206                           TCF      NOMORE                                
024047,002935: 

Page 563

024049,002937:                                                                                                  #           CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024050,002938: 
024051,002939: 
024052,002940: 17,2000                                           SETLOC   C13BANK                               
024053,002941: 17,2000                                           BANK                                           
024054,002942: 
024055,002943: 17,2000           54002        RADSTART           TS       Q                                     
024056,002944: 17,2001           00006                 +1        EXTEND                                         
024057,002945: 17,2002           00004                           READ     LOSCALAR                              #  READ PRESENT TIME
024058,002946: 17,2003           54001                           TS       L                                     
024059,002947: 
024060,002948: 17,2004           74346                           MASK     LOW5                                  #  ONLY THE LOW 5 BITS MATTER
024061,002949: 17,2005           40000                           COM                                            
024062,002950: 17,2006           64746                           AD       BIT6                                  #  COMPUTE DELTA TIME TO NEXT T5 TICK
024063,002951: 17,2007           74346                           MASK     LOW5                                  
024064,002952: 17,2010           55270                           TS       RADDEL                                
024065,002953: 
024066,002954: 17,2011           67751                           AD       NEG2                                  #  IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024067,002955: 17,2012           00006                           EXTEND                                         #  IT HAS TICKED.  THE MAX DELAY HERE WILL
024068,002956: 17,2013           62001                           BZMF     RADSTART   +1                         #  BE 937.5 MICROSECONDS
024069,002957: 
024070,002958: 17,2014           30002                           CA       Q                                     
024071,002959: 17,2015           00006                           EXTEND                                         #  IT IS SAFE TO SET THE ACTIVITY BIT NOW
024072,002960: 17,2016           05013                           WOR      CHAN13                                #  BECAUSE OF THE ABOVE LOOP
024073,002961: 
024074,002962: 17,2017           40001                           CS       L                                     
024075,002963: 17,2020           55267                           TS       RADTIME                               #  SAVE NEGATIVE TIME OF READ
024076,002964: 17,2021           04707                           TC       ISWRETRN                              
024077,002965: 
024078,002966: 
024079,002967: 17,2022           55266        C13STAL1           TS       C13FSAV                               
024080,002968: 
024081,002969: 17,2023           34750                           CA       BIT4                                  
024082,002970: 17,2024           00006                           EXTEND                                         
024083,002971: 17,2025           02013                           RAND     CHAN13                                
024084,002972: 17,2026           00006                           EXTEND                                         
024085,002973: 17,2027           12050                           BZF      TCQSTAL                               #  IF NO RADAR ACTIVITY, RETURN
024086,002974: 
024087,002975: 17,2030           12031        C13SLOOP           NOOP                                           #  *** NECESSARY TO PREVENT A TC TRAP ***
024088,002976: 17,2031           00006                           EXTEND                                         
024089,002977: 17,2032           00004                           READ     LOSCALAR                              
024090,002978: 17,2033           61267                           AD       RADTIME                               #  COMPUTE DELTA T SINCE LAST RADAR READ
024091,002979: 17,2034           64736                           AD       HALF                                  
024092,002980: 17,2035           64736                           AD       HALF                                  #  CORRECT FOR TIME OVERFLOW
024093,002981: 17,2036           56001                           XCH      L                                     
024094,002982: 
024095,002983: 17,2037           32053                           CA       90MSCALR                              
024096,002984: 17,2040           61270                           AD       RADDEL                                
024097,002985: 17,2041           00006                           EXTEND                                         
024098,002986: 17,2042           60001                           SU       L                                     
024099,002987: 

Page 564

024101,002989: 17,2043           00006                           EXTEND                                         
024102,002990: 17,2044           62050                           BZMF     TCQSTAL                               #  FORBIDDEN  ZONE IS PAST, RETURN
024103,002991: 
024104,002992: 17,2045           62054                           AD       -DTSCALR                              
024105,002993: 17,2046           00006                           EXTEND                                         
024106,002994: 17,2047           62030                           BZMF     C13SLOOP                              #  IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024107,002995: 
024108,002996: 17,2050           22002        TCQSTAL            LXCH     Q                                     #  ALL IS WELL, RETURN
024109,002997: 17,2051           31266                           CA       C13FSAV                               
024110,002998: 17,2052           52005                           DTCF                                           
024111,002999: 
024112,003000: 17,2053           00440        90MSCALR           OCT      440                                   #  90 MILLISEC IN SCALAR
024113,003001: 17,2054           77754        -DTSCALR           OCT      77754                                 #  -5.9375 MS IN SCALAR
024114,003002: 
024115,003003:    6000                                           SETLOC   FFTAG6                                
024116,003004:    6000                                           BANK                                           
024117,003005: 
024118,003006:    6022           37727        C13STALL           CAF      PRIO36                                #  PRIO36 = 36000 = FCADR (17,2000)
024119,003007:    6023           56004                           XCH      FBANK                                 
024120,003008:    6024           12022                           TCF      C13STAL1                              
024121,003009: 

Page 565

024123,003011: 
024124,003012:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024125,003013: 
024126,003014: 25,2000                                           SETLOC   P20S1                                 
024127,003015: 25,2000                                           BANK                                           
024128,003016: 
024129,003017: 25,3454                                           COUNT*   $$/RSUB                               
024130,003018: 25,3454           00004        LRPOS2             INHINT                                         
024131,003019: 
024132,003020: 25,3455           40110                           CS       RADMODES                              
024133,003021: 25,3456           74746                           MASK     LRPOSBIT                              #  SHOW DESIRED LR POSITION IS 2
024134,003022: 25,3457           26110                           ADS      RADMODES                              
024135,003023: 
024136,003024: 25,3460           34745                           CAF      BIT7                                  
024137,003025: 25,3461           00006                           EXTEND                                         
024138,003026: 25,3462           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
024139,003027: 25,3463           00006                           EXTEND                                         
024140,003028: 25,3464           13513                           BZF      RADNOOP                               
024141,003029: 
024142,003030: 25,3465           34737                           CAF      BIT13                                 
024143,003031: 25,3466           00006                           EXTEND                                         
024144,003032: 25,3467           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
024145,003033: 25,3470           33530                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
024146,003034: 25,3471           05203                           TC       WAITLIST                              
024147,003035: 25,3472  E7,1456                                  EBANK=   LOSCOUNT                              
024148,003036: 25,3472           03526 52067                     2CADR    LRPOSCAN                              
024149,003037: 25,3474           02377                           TC       ROADBACK                              
024150,003038: 
024151,003039: 25,3475           55077        LRPOSNXT           TS       SAMPLIM                               
024152,003040: 25,3476           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024153,003041: 25,3477           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
024154,003042: 
024155,003043: 25,3500           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
024156,003044: 25,3501           00006                           EXTEND                                         
024157,003045: 25,3502           02033                           RAND     CHAN33                                
024158,003046: 25,3503           00006                           EXTEND                                         
024159,003047: 25,3504           13520                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024160,003048: 
024161,003049: 25,3505           11077                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
024162,003050: 25,3506           13475                           TCF      LRPOSNXT                              
024163,003051: 
024164,003052: 25,3507           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
024165,003053: 25,3510           00006                           EXTEND                                         
024166,003054: 25,3511           03012                           WAND     CHAN12                                
024167,003055: 25,3512           13545                           TCF      RDBADEND                              
024168,003056: 
024169,003057: 25,3513           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
024170,003058: 25,3514           05203                           TC       WAITLIST                              
024171,003059: 25,3515  E7,1456                                  EBANK=   LOSCOUNT                              
024172,003060: 25,3515           03540 52067                     2CADR    RGOODEND                              
024173,003061: 

Page 566

024175,003063: 25,3517           02377                           TC       ROADBACK                              
024176,003064: 
024177,003065: 25,3520           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024178,003066: 25,3521           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024179,003067: 
024180,003068: 25,3522           44737                           CS       BIT13                                 #  REMOVE COMMAND
024181,003069: 25,3523           00006                           EXTEND                                         
024182,003070: 25,3524           03012                           WAND     CHAN12                                
024183,003071: 25,3525           13540                           TCF      RGOODEND                              
024184,003072: 
024185,003073: 25,3526           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
024186,003074: 25,3527           13475                           TCF      LRPOSNXT                              
024187,003075: 
024188,003076: 25,3530           01130        6SECS              DEC      600        B-14                       
024189,003077: 

Page 567

024191,003079:                                                                                                  #           SEQUENCES TO TERMINATE RR OPERATIONS.
024192,003080: 
024193,003081: 25,3531           34745        ENDRADAR           CAF      RCDUFBIT                              #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
024194,003082: 25,3532           70110                           MASK     RADMODES                              
024195,003083: 25,3533           10000                           CCS      A                                     
024196,003084: 25,3534           13540                           TCF      RGOODEND                              
024197,003085: 25,3535           13545                           TCF      RDBADEND                              
024198,003086: 25,3536           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024199,003087: 25,3537           54332                           TS       RUPTAGN                               
024200,003088: 
024201,003089: 25,3540           34752        RGOODEND           CAF      TWO                                   
024202,003090: 25,3541           04635                           TC       POSTJUMP                              
024203,003091: 25,3542           17657                           CADR     GOODEND                               
024204,003092: 
024205,003093: 25,3543           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
024206,003094: 25,3544           54332                           TS       RUPTAGN                               
024207,003095: 25,3545           34752        RDBADEND           CAF      TWO                                   
024208,003096: 25,3546           04635                           TC       POSTJUMP                              
024209,003097: 25,3547           17654                           CADR     BADEND                                
024210,003098: 
024211,003099: 25,3550     6250               BIN3               EQUALS   THREE                                 
024212,003100: 

Page 568

024214,003102:                                                                                                  #  PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024215,003103:                                                                                                  #  MOD. NO.  2      BY  J.D. COYNE    SDC    DATE 12-7-66
024216,003104: 
024217,003105:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024218,003106:                                                                                                  #  1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024219,003107:                                                                                                  #  2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024220,003108:                                                                                                  #  3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024221,003109: 
024222,003110: 
024223,003111:                                                                                                  #  CALLING SEQUENCE       CALL
024224,003112:                                                                                                  #                                LPS20.1
024225,003113: 
024226,003114: 
024227,003115:                                                                                                  #  SUBROUTINES CALLED_
024228,003116: 
024229,003117:                                                                                                  #  LEMPREC,CSMPREC
024230,003118: 
024231,003119:                                                                                                  #  NORMAL EXIT_ RETURN TO CALLER + 2
024232,003120: 
024233,003121: 
024234,003122:                                                                                                  #  ERROR EXITS_ NONE
024235,003123: 
024236,003124: 
024237,003125:                                                                                                  #  ALARMS_ NONE
024238,003126: 
024239,003127:                                                                                                  #  OUTPUT_
024240,003128: 
024241,003129:                                                                                                  #  LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024242,003130:                                                                                                  #  MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024243,003131:                                                                                                  #  RRNBSW CLEARED
024244,003132: 
024245,003133: 
024246,003134:                                                                                                  #  INITIALIZED ERASEABLE
024247,003135: 
024248,003136:                                                                                                  #  TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024249,003137:                                                                                                  #  SEE ORBITAL INTEGRATION ROUTINE
024250,003138: 
024251,003139: 
024252,003140:                                                                                                  #  DEBRIS_
024253,003141: 
024254,003142:                                                                                                  #  MPAC DESTROYED BY THIS ROUTINE
024255,003143: 
024256,003144: 
024257,003145: 23,2337                                           BANK     23                                    
024258,003146: 24,2000                                           SETLOC   P20S                                  
024259,003147: 24,2000                                           BANK                                           
024260,003148: 

Page 569

024262,003150: 24,3255                                           COUNT*   $$/LPS20                              
024263,003151: 
024264,003152: 24,3255           43020        LPS20.1            STQ      BOFF                                  
024265,003153: 24,3256           01757                                    LS21X                                 
024266,003154: 24,3257           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
024267,003155: 24,3260           51264                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
024268,003156: 24,3261           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
024269,003157: 24,3262           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
024270,003158: 24,3263           51274                                    CSMINT                                
024271,003159: 24,3264           77624        LMINT              CALL                                           
024272,003160: 24,3265           27101                                    LEMCONIC                              #  EXTRAPOLATE LEM
024273,003161: 24,3266           77775                           VLOAD                                          
024274,003162: 24,3267           00001                                    RATT                                  
024275,003163: 24,3270           26352                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
024276,003164: 24,3271           00007                                    VATT                                  
024277,003165: 24,3272           16360                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
024278,003166: 24,3273           00015                                    TAT                                   
024279,003167: 24,3274           34041        CSMINT             STCALL   TDEC1                                 
024280,003168: 24,3275           27067                                    CSMCONIC                              #   EXTRAPOLATE CSM
024281,003169: 24,3276           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024282,003170: 24,3277           00007                                    VATT                                  
024283,003171: 24,3300           02360                                    LMVEL                                 
024284,003172: 24,3301           76521                           MXV      VSL1                                  
024285,003173: 24,3302           01734                                    REFSMMAT                              
024286,003174: 24,3303           77776                           EXIT                                           
024287,003175: 24,3304           06032                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
024288,003176: 24,3305           52613                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
024289,003177: 24,3306           06042                           TC       INTPRET                               
024290,003178: 24,3307           25761                           STOVL    LOSVEL                                
024291,003179: 24,3310           00001                                    RATT                                  
024292,003180: 24,3311           43051                           VSU      BOFF                                  
024293,003181: 24,3312           02352                                    LMPOS                                 
024294,003182: 24,3313           00350                                    RNDVZFLG                              
024295,003183: 24,3314           51321                                    NOTSHIFT                              
024296,003184: 24,3315           77604                           BOVB                                           
024297,003185: 24,3316           57753                                    TCDANZIG                              
024298,003186: 24,3317           77661                           VSL                                            
024299,003187: 24,3320           20212                                    9D                                    
024300,003188: 24,3321           41056        NOTSHIFT           UNIT     BOVB                                  #  IF OVERFLOW, RANGE MUST BE GREATER
024301,003189: 24,3322           50102                                    526ALARM                              #  THAN 400 N. M.
024302,003190: 24,3323           76521                           MXV      VSL1                                  
024303,003191: 24,3324           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
024304,003192: 24,3325           15101                           STODL    RRTARGET                              
024305,003193: 24,3326           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
024306,003194: 24,3327           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
024307,003195: 24,3330           77614                           CLRGO                                          
024308,003196: 24,3331           00231                                    RRNBSW                                
024309,003197: 24,3332           01757                                    LS21X                                 
024310,003198: 

Page 570

024312,003200:                                                                                                  #  PROGRAM NAME_ LPS20.2  400 NM RANGE CHECK
024313,003201:                                                                                                  #  MOD. NO. 2   BY J.D. COYNE   SDC    DATE 12-7-66
024314,003202: 
024315,003203: 
024316,003204:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024317,003205: 
024318,003206:                                                                                                  #  COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024319,003207: 
024320,003208: 
024321,003209:                                                                                                  #  CALLING SEQUENCE       CALL
024322,003210:                                                                                                  #                                LPS20.2
024323,003211: 
024324,003212: 
024325,003213:                                                                                                  #  SUBROUTINES CALLED_ NONE
024326,003214: 
024327,003215: 
024328,003216:                                                                                                  #  NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024329,003217: 
024330,003218: 
024331,003219:                                                                                                  #  ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024332,003220: 
024333,003221: 
024334,003222:                                                                                                  #  ALARMS_ NONE
024335,003223: 
024336,003224: 
024337,003225:                                                                                                  #  OUTPUT_ NONE
024338,003226: 
024339,003227: 
024340,003228:                                                                                                  #  INITIALIZED ERASEABLE_
024341,003229: 
024342,003230:                                                                                                  #  PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024343,003231:                                                                                                  #  DEBRIS
024344,003232: 
024345,003233:                                                                                                  #  MPAC DESTROYED BY THIS ROUTINE
024346,003234: 
024347,003235: 
024348,003236: 25,2000                                           SETLOC   P20S1                                 
024349,003237: 25,2000                                           BANK                                           
024350,003238: 25,3550                                           COUNT*   $$/LPS20                              
024351,003239: 
024352,003240: 25,3550           45345        LPS20.2            DLOAD    DSU                                   
024353,003241: 25,3551           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
024354,003242: 25,3552           13563                                    FHNM                                  #  OVER 400NM  _
024355,003243: 25,3553           77644                           BPL                                            
024356,003244: 25,3554           53557                                    TOFAR                                 
024357,003245: 25,3555           43535                           SLOAD    RVQ                                   
024358,003246: 25,3556           06524                                    ZERO/SP                               
024359,003247: 25,3557           43535        TOFAR              SLOAD    RVQ                                   
024360,003248: 25,3560           13562                                    ONE/SP                                
024361,003249: 25,3561           00001        ONE/SP             DEC      1          B-14                       
024362,003250: 

Page 571

024364,003252: 25,3562           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
024365,003253: 

Page 572

024367,003255:                                                                                                  #  PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024368,003256:                                                                                                  #  MOD. NO.: 1       BY:  P. VOLANTE  SDC           DATE:  11-15-66
024369,003257: 
024370,003258: 
024371,003259:                                                                                                  #  FUNCTIONAL DESCRIPTION
024372,003260: 
024373,003261:                                                                                                  #  1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
024374,003262:                                                                                                  #  DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
024375,003263:                                                                                                  #  RR REPOSITION AND RR CDU FAIL
024376,003264: 
024377,003265:                                                                                                  #  2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024378,003266: 
024379,003267: 
024380,003268:                                                                                                  #  CALLING SEQUENCE:  BANKCALL FOR LRS22.1
024381,003269: 
024382,003270: 
024383,003271:                                                                                                  #  SUBROUTINES CALLED:
024384,003272: 
024385,003273:                                                                                                  #         RRRDOT   LPS20.1
024386,003274:                                                                                                  #         RRRANGE  BANKCALL
024387,003275:                                                                                                  #         RADSTALL CDULOGIC
024388,003276:                                                                                                  #         RRNB     SMNB
024389,003277:                                                                                                  #  NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024390,003278: 
024391,003279: 
024392,003280:                                                                                                  #  ERROR EXITS:  RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024393,003281: 
024394,003282:                                                                                                  #                00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024395,003283:                                                                                                  #                00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024396,003284: 
024397,003285: 
024398,003286:                                                                                                  #  ALARMS:  521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024399,003287:                                                                                                  #   (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024400,003288: 
024401,003289:                                                                                                  #  OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2)-A HALF-UNIT VECTOR
024402,003290:                                                                                                  #          RM- THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024403,003291: 
024404,003292:                                                                                                  #     ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024405,003293: 
024406,003294:                                                                                                  #          RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
024407,003295:                                                                                                  #          RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
024408,003296:                                                                                                  #          RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
024409,003297:                                                                                                  #          AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
024410,003298:                                                                                                  #          MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
024411,003299: 
024412,003300: 
024413,003301:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024414,003302: 
024415,003303:                                                                                                  #     RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
024416,003304: 

Page 573

024418,003306:                                                                                                  #      1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024419,003307:                                                                                                  #      2) RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
024420,003308: 
024421,003309:                                                                                                  #     THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
024422,003310: 
024423,003311: 
024424,003312:                                                                                                  #  DEBRIS:  LRS22.1X,A,L,Q,PUSHLIST
024425,003313: 
024426,003314: 32,2366                                           BANK     32                                    
024427,003315: 32,2000                                           SETLOC   LRS22                                 
024428,003316: 32,2000                                           BANK                                           
024429,003317: 32,2366                                           COUNT*   $$/LRS22                              
024430,003318: 
024431,003319: 32,2366           04645        LRS22.1            TC       MAKECADR                              
024432,003320: 32,2367           55737                           TS       LRS22.1X                              
024433,003321: 32,2370           05516                           TC       DOWNFLAG                              
024434,003322: 32,2371           00120                           ADRES    RNGSCFLG                              
024435,003323: 32,2372           00004                           INHINT                                         
024436,003324: 32,2373           34751                           CAF      BIT3                                  
024437,003325: 32,2374           00006                           EXTEND                                         #  GET RR RANGE SCALE
024438,003326: 32,2375           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
024439,003327: 32,2376           54001                           TS       L                                     
024440,003328: 32,2377           44751                           CS       RRRSBIT                               
024441,003329: 32,2400           70110                           MASK     RADMODES                              
024442,003330: 32,2401           60001                           AD       L                                     
024443,003331: 32,2402           54110                           TS       RADMODES                              
024444,003332: 32,2403           00003                           RELINT                                         
024445,003333: 32,2404           04616        READRDOT           TC       BANKCALL                              
024446,003334: 32,2405           53112                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
024447,003335: 32,2406           04616                           TC       BANKCALL                              
024448,003336: 32,2407           17706                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
024449,003337: 32,2410           12543                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
024450,003338: 
024451,003339: 32,2411           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
024452,003340: 32,2412           53105                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
024453,003341: 32,2413           52162                           DXCH     MPAC       +5                         #  TEMP BUFFER FOR DOWNLINK
024454,003342: 32,2414           53101                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
024455,003343: 32,2415           53747                           DXCH     RDOTMSAV                              
024456,003344: 32,2416           00006                           EXTEND                                         
024457,003345: 32,2417           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
024458,003346: 32,2420           52160                           DXCH     MPAC       +3                         #  TEMP BUFFER FOR DOWNLINK
024459,003347: 32,2421           30032                           CA       CDUX                                  
024460,003348: 32,2422           54156                           TS       MPAC       +2                         #  TEMP BUFFER FOR DOWNLINK
024461,003349: 32,2423           00006                           EXTEND                                         
024462,003350: 32,2424           30025                           DCA      TIME2                                 #   SAVE TIME
024463,003351: 32,2425           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
024464,003352: 32,2426           00006                           EXTEND                                         
024465,003353: 32,2427           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024466,003354: 32,2430           53107                           DXCH     TANG                                  
024467,003355: 

Page 574

024469,003357: 32,2431           00003                           RELINT                                         
024470,003358: 32,2432           04616                           TC       BANKCALL                              
024471,003359: 32,2433           53114                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
024472,003360: 32,2434           04616                           TC       BANKCALL                              
024473,003361: 32,2435           17706                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
024474,003362: 32,2436           02537                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
024475,003363: 32,2437           00004                           INHINT                                         #  COPY CYCLE FOR MARK DATA ON DOWNLINK
024476,003364: 32,2440           00006                           EXTEND                                         
024477,003365: 32,2441           31331                           DCA      DNRRANGE                              #  RANGE,RANGE RATE (RAW DATA)
024478,003366: 32,2442           53761                           DXCH     RANGRDOT                              
024479,003367: 32,2443           52162                           DXCH     MPAC       +5                         
024480,003368: 32,2444           53755                           DXCH     MKTIME                                #  MARK TIME
024481,003369: 32,2445           52160                           DXCH     MPAC       +3                         
024482,003370: 32,2446           53460                           DXCH     AIG                                   #  CDUY, CDUZ
024483,003371: 32,2447           00006                           EXTEND                                         
024484,003372: 32,2450           31107                           DCA      TANG                                  #  PRESERVE TANG
024485,003373: 32,2451           53753                           DXCH     TANGNB                                #  TRUNNION AND SHAFT ANGLES
024486,003374: 32,2452           30156                           CA       MPAC       +2                         
024487,003375: 32,2453           55461                           TS       AOG                                   #  CDUX
024488,003376: 32,2454           06042                           TC       INTPRET                               
024489,003377: 32,2455           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
024490,003378: 32,2456           03747                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
024491,003379: 32,2457           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
024492,003380: 32,2460           20217                                    14D                                   #  FT./SECOND PER BIT
024493,003381: 32,2461           24002                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
024494,003382: 32,2462           03751                           STORE    RDOTM                                 
024495,003383: 32,2463           47135                           SLOAD    RTB                                   
024496,003384: 32,2464           01107                                    TANG                                  #  GET TRUNION ANGLE
024497,003385: 32,2465           21577                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
024498,003386: 32,2466           03734                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
024499,003387: 32,2467           47135                           SLOAD    RTB                                   
024500,003388: 32,2470           01110                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
024501,003389: 32,2471           21577                                    CDULOGIC                              
024502,003390: 32,2472           17736                           STODL    RRSHAFT                               
024503,003391: 32,2473           01101                                    SAMPLSUM                              
024504,003392: 32,2474           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
024505,003393: 32,2475           24004                                    RANGCONV                              #  PER BIT, END WITH METERS,SCALED -29
024506,003394: 32,2476           37757                           STCALL   RM                                    
024507,003395: 32,2477           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
024508,003396: 32,2500           17741                           STODL    RRBORSIT                              #  AND SAVE
024509,003397: 32,2501           00025                                    20D                                   
024510,003398: 32,2502           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
024511,003399: 32,2503           51255                                    LPS20.1                               
024512,003400: 32,2504           77776                           EXIT                                           
024513,003401: 32,2505           31457                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
024514,003402: 32,2506           54765                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
024515,003403: 32,2507           31460                           CA       AMG                                   
024516,003404: 32,2510           54767                           TS       CDUSPOT    +2                         
024517,003405: 32,2511           31461                           CA       AOG                                   
024518,003406: 32,2512           54771                           TS       CDUSPOT    +4                         
024519,003407: 

Page 575

024521,003409: 32,2513           06042                           TC       INTPRET                               
024522,003410: 32,2514           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
024523,003411: 32,2515           01101                                    RRTARGET                              
024524,003412: 32,2516           47653                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
024525,003413: 32,2517           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
024526,003414: 32,2520           03741                                    RRBORSIT                              
024527,003415: 32,2521           65552                           SL1      ACOS                                  #  BETWEEN THEM
024528,003416: 32,2522           01045                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
024529,003417: 32,2523           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
024530,003418: 32,2524           24547                                    THREEDEG                              
024531,003419: 32,2525           64532                                    NORMEXIT                              #  YES-NORMAL EXIT
024532,003420: 
024533,003421: 32,2526           77776                           EXIT                                           #  ERROR EXIT 2
024534,003422: 32,2527           34752                           CAF      BIT2                                  #  SET ERROR CODE
024535,003423: 32,2530           54154                           TS       MPAC                                  
024536,003424: 32,2531           12535                           TCF      OUT22.1                               
024537,003425: 
024538,003426: 32,2532           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT-SET MPAC EQUAL ZERO
024539,003427: 32,2533           34755                           CAF      ZERO                                  
024540,003428: 32,2534           54154                           TS       MPAC                                  
024541,003429: 32,2535           31737        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
024542,003430: 32,2536           04640                           TC       BANKJUMP                              
024543,003431: 32,2537           30101        CHEXERR            CAE      FLAGWRD5                              
024544,003432: 32,2540           74742                           MASK     RNGSCBIT                              
024545,003433: 32,2541           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
024546,003434: 32,2542           12404                           TCF      READRDOT                              #  YES-TAKE ANOTHER READING
024547,003435: 
024548,003436: 32,2543           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
024549,003437: 32,2544           54154                           TS       MPAC                                  
024550,003438: 32,2545           02535                           TC       OUT22.1                               
024551,003439: 32,2546           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES,SCALED REVS,B0
024552,003440: 32,2550     1100               RRLOSVEC           EQUALS   RRTARGET                              
024553,003441: 

Page 576

024555,003443:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024556,003444: 
024557,003445: 
024558,003446:                                                                                                  #  MOD. NO.: 1        BY: P VOLANTE  SDC           DATE   4-11-67
024559,003447: 
024560,003448:                                                                                                  #  FUNCTIONAL DESCRIPTION-
024561,003449:                                                                                                  #     2)  CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024562,003450: 
024563,003451: 
024564,003452:                                                                                                  #  CALLING SEQUENCE- BANKCALL FOR LRS22.2
024565,003453: 
024566,003454: 
024567,003455:                                                                                                  #  SUBROUTINES CALLED: G+N,AUTO   SETMAXDB
024568,003456:                                                                                                  #  NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024569,003457: 
024570,003458: 
024571,003459:                                                                                                  #  ERROR EXIT -  RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024572,003460: 
024573,003461: 
024574,003462:                                                                                                  #  ALARMS - NONE                                                             IN THE AUTO MODE
024575,003463: 
024576,003464: 
024577,003465:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
024578,003466:                                                                                                  #       RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
024579,003467:                                                                                                  #       RM - RR RANGE, METERS B-29, FROM LRS22.1
024580,003468:                                                                                                  #       BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
024581,003469: 
024582,003470: 
024583,003471:                                                                                                  #  DEBRIS -  A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024584,003472: 
024585,003473: 
024586,003474: 24,2000                                           SETLOC   P20S                                  
024587,003475: 24,2000                                           BANK                                           
024588,003476: 24,3333           04645        LRS22.2            TC       MAKECADR                              
024589,003477: 24,3334           55737                           TS       LRS22.1X                              
024590,003478: 24,3335           06042                           TC       INTPRET                               
024591,003479:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF
024592,003480: 24,3336           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
024593,003481: 24,3337           03745                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
024594,003482:                                                                                                  #  LOS VECTOR,A HALF UNIT VECTOR
024595,003483:                                                                                                  #  IN NAV BASE AXES)
024596,003484: 24,3340           50025                           DSU      BMN                                   
024597,003485: 24,3341           11355                                    30DEG                                 
024598,003486: 24,3342           51347                                    OKEXIT                                #  NORMAL EXIT-WITHIN 30 DEG.
024599,003487: 24,3343           77776                           EXIT                                           #  ERROR EXIT-NOT WITHIN 30 DEG.
024600,003488: 24,3344           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
024601,003489: 24,3345           54154                           TS       MPAC                                  
024602,003490: 24,3346           13352                           TCF      OUT22.2                               
024603,003491: 24,3347           77776        OKEXIT             EXIT                                           #  NORMAL EXIT-SET MPAC = ZERO
024604,003492: 

Page 577

024606,003494: 24,3350           34755                           CAF      ZERO                                  
024607,003495: 24,3351           54154                           TS       MPAC                                  
024608,003496: 24,3352           31737        OUT22.2            CAE      LRS22.1X                              
024609,003497: 24,3353           04640                           TC       BANKJUMP                              
024610,003498: 
024611,003499: 
024612,003500: 24,3354           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES,SCALED REVS,B0
024613,003501: 

Page 578

024615,003503:                                                                                                  #  PROGRAM NAME - LSR22.3                                                  DATE - 29 MAY 1967
024616,003504:                                                                                                  #  MOD. NO 3                                                               LOG SECTION - P20-25
024617,003505:                                                                                                  #  MOD. BY - DANFORTH                                                      ASSEMBLY LEMP20S REV 10
024618,003506: 
024619,003507:                                                                                                  #  FUNCTIONAL DESCRIPTION
024620,003508: 
024621,003509:                                                                                                  #  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024622,003510:                                                                                                  #  RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024623,003511:                                                                                                  #  WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024624,003512: 
024625,003513:                                                                                                  #  CALLING SEQUENCE
024626,003514:                                                                                                  #  THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
024627,003515:                                                                                                  #  R22LEM  ONLY AND RETURNS DIRECTLY TO R22LEM  FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024628,003516:                                                                                                  #  COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM  TO DISPLAY
024629,003517:                                                                                                  #  THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM  RETURNS TO    LSR22.3 TO INCORPORATE THE
024630,003518:                                                                                                  #  DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024631,003519:                                                                                                  #  PROCESSED FOR THIS MARK,I.E.,R22LEM  GETS THE NEXT MARK.
024632,003520: 
024633,003521: 
024634,003522:                                                                                                  #  SUBROUTINES CALLED
024635,003523:                                                                                                  #   WLINIT     LGCUPDTE     INTEGRV     INCORP1     ARCTAN
024636,003524:                                                                                                  #   GETULC     RARARANG     INCORP2     NBSM        INTSTALL
024637,003525: 
024638,003526:                                                                                                  #  OUTPUT
024639,003527:                                                                                                  #   CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024640,003528:                                                                                                  #   NUMBER OF MARKS INCORPORATED IN MARKCTR
024641,003529:                                                                                                  #   MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024642,003530:                                                                                                  #   MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024643,003531:                                                                                                  #   UPDATED W-MATRIX
024644,003532: 
024645,003533: 
024646,003534:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
024647,003535:                                                                                                  #   LM AND CSM STATE VECTORS
024648,003536:                                                                                                  #   W-MATRIX
024649,003537:                                                                                                  #   MARK TIME IN MKTIME
024650,003538:                                                                                                  #   RADAR RANGE IN RM METERS B-29
024651,003539:                                                                                                  #         RANGE RATE IN RDOTM METERS/CSES B-7
024652,003540:                                                                                                  #         SHAFT ANGLE IN RRSHAFT REVS.B0
024653,003541:                                                                                                  #         TRUNNION ANGLE IN RRTRUN REVS. B0
024654,003542:                                                                                                  #   GIMBAL ANGLES  INNER IN AIG
024655,003543:                                                                                                  #                  MIDDLE IN AMG
024656,003544:                                                                                                  #                  OUTER IN AOG
024657,003545:                                                                                                  #   REFSMMAT
024658,003546:                                                                                                  #   RENDWFLG
024659,003547:                                                                                                  #   NOANGFLG
024660,003548:                                                                                                  #   VEHUPFLG
024661,003549: 
024662,003550:                                                                                                  #  DEBRIS
024663,003551:                                                                                                  #   PUSHLIST--ALL
024664,003552:                                                                                                  #   MX, MY, MZ  (VECTORS)
024665,003553: 

Page 579

024667,003555:                                                                                                  #   ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
024668,003556: 
024669,003557: 
024670,003558: 13,2207                                           BANK     13                                    
024671,003559: 26,2000                                           SETLOC   P20S3                                 
024672,003560: 26,2000                                           BANK                                           
024673,003561: 
024674,003562: 26,2416  E7,1456                                  EBANK=   LOSCOUNT                              
024675,003563: 26,2416                                           COUNT*   $$/LSR22                              
024676,003564: 26,2416           77624        LSR22.3            CALL                                           
024677,003565: 26,2417           11226                                    GRP2PC                                
024678,003566: 26,2420           43014                           BON      SET                                   
024679,003567: 26,2421           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
024680,003568: 26,2422           55200                                    LSR22.4                               #  YES
024681,003569: 26,2423           02466                                    DMENFLG                               
024682,003570: 26,2424           45014                           BOFF     CALL                                  
024683,003571: 26,2425           00747                                    VEHUPFLG                              
024684,003572: 26,2426           54460                                    DOLEM                                 
024685,003573: 26,2427           27412                                    INTSTALL                              
024686,003574: 26,2430           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
024687,003575: 26,2431           01674                                    VINTFLAG                              
024688,003576: 26,2432           26645                                    SETIFLGS                              
024689,003577: 26,2433           77624                           CALL                                           
024690,003578: 26,2434           55242                                    INTGRCAL                              
024691,003579: 26,2435           77624                           CALL                                           
024692,003580: 26,2436           11226                                    GRP2PC                                
024693,003581: 26,2437           77624                           CALL                                           
024694,003582: 26,2440           27412                                    INTSTALL                              
024695,003583: 26,2441           43014                           CLEAR    BOFF                                  
024696,003584: 26,2442           01676                                    DIM0FLAG                              
024697,003585: 26,2443           02756                                    RENDWFLG                              
024698,003586: 26,2444           54450                                    NOTWCSM                               
024699,003587: 26,2445           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
024700,003588: 26,2446           01476                                    DIM0FLAG                              
024701,003589: 26,2447           01475                                    D6OR9FLG                              
024702,003590: 26,2450           43014        NOTWCSM            SET      CLEAR                                 
024703,003591: 26,2451           01474                                    VINTFLAG                              
024704,003592: 26,2452           01673                                    INTYPFLG                              
024705,003593: 26,2453           45014                           SET      CALL                                  
024706,003594: 26,2454           01472                                    STATEFLG                              
024707,003595: 26,2455           55242                                    INTGRCAL                              
024708,003596: 26,2456           77650                           GOTO                                           
024709,003597: 26,2457           54510                                    MARKTEST                              
024710,003598: 26,2460           77624        DOLEM              CALL                                           
024711,003599: 26,2461           27412                                    INTSTALL                              
024712,003600: 26,2462           45014                           SET      CALL                                  
024713,003601: 26,2463           01474                                    VINTFLAG                              
024714,003602: 26,2464           26645                                    SETIFLGS                              
024715,003603: 26,2465           77624                           CALL                                           
024716,003604: 26,2466           55242                                    INTGRCAL                              
024717,003605: 

Page 580

024719,003607: 26,2467           77624                           CALL                                           
024720,003608: 26,2470           11226                                    GRP2PC                                
024721,003609: 26,2471           77624                           CALL                                           
024722,003610: 26,2472           27412                                    INTSTALL                              
024723,003611: 26,2473           43014                           CLEAR    BOFF                                  
024724,003612: 26,2474           01676                                    DIM0FLAG                              
024725,003613: 26,2475           02756                                    RENDWFLG                              
024726,003614: 26,2476           54502                                    NOTWLEM                               
024727,003615: 26,2477           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
024728,003616: 26,2500           01476                                    DIM0FLAG                              
024729,003617: 26,2501           01475                                    D6OR9FLG                              
024730,003618: 26,2502           43014        NOTWLEM            CLEAR    CLEAR                                 
024731,003619: 26,2503           01673                                    INTYPFLG                              
024732,003620: 26,2504           01674                                    VINTFLAG                              
024733,003621: 26,2505           45014                           SET      CALL                                  
024734,003622: 26,2506           01472                                    STATEFLG                              
024735,003623: 26,2507           55242                                    INTGRCAL                              
024736,003624: 26,2510           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
024737,003625: 26,2511           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
024738,003626: 26,2512           54514                                    RANGEBQ                               
024739,003627: 26,2513           55251                                    WLINIT                                #  YES-REINITIALIZE
024740,003628: 26,2514           77414        RANGEBQ            BON      EXIT                                  #  DON'T CALL R65 IF ON SURFACE
024741,003629: 26,2515           04307                                    SURFFLAG                              
024742,003630: 26,2516           54524                                    RANGEBQ1                              
024743,003631: 26,2517           34755                           CA       ZERO                                  
024744,003632: 26,2520           55745                           TS       R65CNTR                               
024745,003633: 26,2521           04616                           TC       BANKCALL                              
024746,003634: 26,2522           46123                           CADR     R65LEM                                
024747,003635: 26,2523           06042                           TC       INTPRET                               
024748,003636: 26,2524           43174        RANGEBQ1           AXT,2    BON                                   #   CLEAR X2
024749,003637: 26,2525           00000                                    0                                     
024750,003638: 26,2526           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
024751,003639: 26,2527           54532                                    SETX2                                 #  YES. STORE ZERO IN SCALSHFT REGISTER
024752,003640: 26,2530           77714                           INCR,2                                         
024753,003641: 26,2531           00002                                    2                                     
024754,003642: 26,2532           45134        SETX2              SXA,2    CALL                                  
024755,003643: 26,2533           03720                                    SCALSHFT                              #  0-MOON. 2-EARTH
024756,003644: 26,2534           11226                                    GRP2PC                                
024757,003645: 26,2535           66170                           AXT,1    SXA,1                                 #  STORE RANGE CODE (1) FOR R3 IN NOUN 49
024758,003646: 26,2536           00001                                    1                                     
024759,003647: 26,2537           01356                                    WHCHREAD                              
024760,003648: 26,2540           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
024761,003649: 26,2541           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION    (B-40)
024762,003650: 26,2542           20635                                    28D                                   
024763,003651: 26,2543           77634                           RTB                                            
024764,003652: 26,2544           21634                                    TPMODE                                #  AND SAVE  IN 20D
024765,003653: 26,2545           00025                           STORE    20D                                   
024766,003654: 26,2546           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS,DELTAQ
024767,003655: 26,2547           55333                                    GETULC                                #  B-VECTORS FOR RANGE
024768,003656: 26,2550           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
024769,003657: 

Page 581

024771,003659: 26,2551           00707                                    VEHUPFLG                              
024772,003660: 26,2552           54553                                    +1                                    
024773,003661: 26,2553           27525                           STOVL    BVECTOR                               
024774,003662: 26,2554           06524                                    ZEROVECS                              
024775,003663: 26,2555           03533                           STORE    BVECTOR    +6                         #  B1
024776,003664: 26,2556           17541                           STODL    BVECTOR    +12D                       #  B2
024777,003665: 26,2557           00045                                    36D                                   
024778,003666: 26,2560           44257                           SRR*     BDSU                                  
024779,003667: 26,2561           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
024780,003668: 26,2562           03757                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
024781,003669: 26,2563           77657                           SLR*                                           
024782,003670: 26,2564           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
024783,003671: 26,2565           17547                           STODL    DELTAQ                                #  EARTH B-29. MOON B-27
024784,003672: 26,2566           00045                                    36D                                   #  RLC  B-29/B-27
024785,003673: 26,2567           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
024786,003674: 26,2570           00047                                    X1                                    
024787,003675: 26,2571           53605                           DMP      SR*                                   
024788,003676: 26,2572           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR(B12) THEN
024789,003677: 26,2573           20577                                    0          -2,1                       #  UNNORMALIZE
024790,003678: 26,2574           53657                           SR*      SR*                                   
024791,003679: 26,2575           20601                                    0,1                                   
024792,003680: 26,2576           57176                                    0,2                                   
024793,003681: 26,2577           47057                           SR*      RTB                                   
024794,003682: 26,2600           57176                                    0,2                                   
024795,003683: 26,2601           21634                                    TPMODE                                
024796,003684: 26,2602           02707                           STORE    VARIANCE                              #  B-40
024797,003685: 26,2603           76276                           DCOMP    TAD                                   
024798,003686: 26,2604           00025                                    20D                                   #    B-40
024799,003687: 26,2605           72240                           BMN      TLOAD                                 
024800,003688: 26,2606           54611                                    QOK                                   
024801,003689: 26,2607           00025                                    20D                                   #    B-40
024802,003690: 26,2610           02707                           STORE    VARIANCE                              
024803,003691: 26,2611           77624        QOK                CALL                                           
024804,003692: 26,2612           55401                                    LGCUPDTE                              
024805,003693: 
024806,003694: 26,2613           45131                           SSP      CALL                                  
024807,003695: 26,2614           01357                                    WHCHREAD                              
024808,003696: 26,2615           00002                           DEC      2          B-14                       #  STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024809,003697: 26,2616           11226                                    GRP2PC                                
024810,003698: 26,2617           77624                           CALL                                           #  B-VECTOR,DELTAQ FOR RANGE RATE
024811,003699: 26,2620           55333                                    GETULC                                
024812,003700: 26,2621           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
024813,003701: 26,2622           00045                                    36D                                   #  AND SHIFT TO B-23
024814,003702: 26,2623           57202                                    0          -4,2                       
024815,003703: 26,2624           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
024816,003704: 26,2625           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
024817,003705: 26,2626           00707                                    VEHUPFLG                              
024818,003706: 26,2627           54630                                    +1                                    
024819,003707: 26,2630           77761                           VXSC                                           
024820,003708: 26,2631           00045                                    36D                                   #  B1 = RLC  (B-24/B-22)
024821,003709: 

Page 582

024823,003711: 26,2632           27533                           STOVL    BVECTOR    +6                         
024824,003712: 26,2633           01653                                    NUVLEM                                
024825,003713: 26,2634           53257                           VSR*     VAD                                   
024826,003714: 26,2635           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024827,003715: 26,2636           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
024828,003716: 26,2637           53715                           PDVL     VSR*                                  #  VL TO PD6
024829,003717: 26,2640           01601                                    NUVCSM                                
024830,003718: 26,2641           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024831,003719: 26,2642           52255                           VAD      VSU                                   
024832,003720: 26,2643           01615                                    VCVCSM                                
024833,003721: 26,2644           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
024834,003722: 26,2645           00001                                    0                                     
024835,003723: 26,2646           00007                                    6                                     
024836,003724: 26,2647           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
024837,003725: 26,2650           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
024838,003726: 26,2651           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
024839,003727: 26,2652           01773                                    RATEVAR                               
024840,003728: 26,2653           02707                           STORE    VARIANCE                              
024841,003729: 26,2654           54335                           SLOAD    SR                                    
024842,003730: 26,2655           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
024843,003731: 26,2656           20621                                    16D                                   #  SHIFT TO DP (B -4)
024844,003732: 26,2657           00031                           STORE    24D                                   #  AND SAVE IN 24D
024845,003733: 26,2660           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
024846,003734: 26,2661           02707                                    VARIANCE                              
024847,003735: 26,2662           54666                                    VOK                                   #  BRANCH - NO
024848,003736: 26,2663           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
024849,003737: 26,2664           00031                                    24D                                   
024850,003738: 26,2665           02707                           STORE    VARIANCE                              
024851,003739: 26,2666           60545        VOK                DLOAD    SR2                                   #  RDOT(PD12) FROM B-8/B-6
024852,003740: 26,2667           53725                           PDDL     SLR*                                  #  TO B-10/B-8
024853,003741: 26,2670           03751                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
024854,003742: 26,2671           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
024855,003743: 26,2672           77625                           DSU                                            
024856,003744: 26,2673           77675                           DMPR                                           
024857,003745: 26,2674           00045                                    36D                                   
024858,003746: 26,2675           27547                           STOVL    DELTAQ                                #    B-33
024859,003747: 26,2676           00001                                    0                                     #  NOW GET B0
024860,003748: 26,2677           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
024861,003749: 26,2700           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
024862,003750: 26,2701           00707                                    VEHUPFLG                              
024863,003751: 26,2702           54703                                    +1                                    
024864,003752: 26,2703           77657                           VSR*                                           
024865,003753: 26,2704           57200                                    0          -2,2                       #  SCALED B-5
024866,003754: 26,2705           27525                           STOVL    BVECTOR                               
024867,003755: 26,2706           06524                                    ZEROVECS                              
024868,003756: 26,2707           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
024869,003757: 26,2710           27541                           STOVL    BVECTOR    +12D                       
024870,003758: 26,2711           03525                                    BVECTOR                               
024871,003759: 26,2712           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
024872,003760: 26,2713           00025                                    20D                                   #  SHIFT COUNT IN 20D
024873,003761: 

Page 583

024875,003763: 26,2714           51575                           VLOAD    ABVAL                                 
024876,003764: 26,2715           03533                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
024877,003765: 26,2716           71301                           NORM     DLOAD                                 
024878,003766: 26,2717           00027                                    22D                                   #  SHIFT COUNT IN 22D
024879,003767: 26,2720           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
024880,003768: 26,2721           50025                           DSU      BMN                                   #  BRANCH- B0 HAS SMALLER SHIFT COUNT
024881,003769: 26,2722           00025                                    20D                                   
024882,003770: 26,2723           54727                                    VOK1                                  
024883,003771: 26,2724           52150                           LXA,1    GOTO                                  
024884,003772: 26,2725           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
024885,003773: 26,2726           54731                                    VOK2                                  
024886,003774: 26,2727           77750        VOK1               LXA,1                                          
024887,003775: 26,2730           00024                                    20D                                   
024888,003776: 26,2731           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0,B1,DELTAQ AND VARIANCE
024889,003777: 26,2732           03525                                    BVECTOR                               #  WITH THIS SHIFT COUNT
024890,003778: 26,2733           20201                                    0,1                                   
024891,003779: 26,2734           27525                           STOVL    BVECTOR                               
024892,003780: 26,2735           03533                                    BVECTOR    +6                         
024893,003781: 26,2736           77657                           VSL*                                           
024894,003782: 26,2737           20201                                    0,1                                   
024895,003783: 26,2740           17533                           STODL    BVECTOR    +6                         
024896,003784: 26,2741           03547                                    DELTAQ                                
024897,003785: 26,2742           77657                           SL*                                            
024898,003786: 26,2743           20201                                    0,1                                   
024899,003787: 26,2744           03547                           STORE    DELTAQ                                
024900,003788: 26,2745           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
024901,003789: 26,2746           00045                                    36D                                   
024902,003790: 26,2747           20200                                    0          -1,1                       
024903,003791: 26,2750           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
024904,003792: 26,2751           02707                                    VARIANCE                              
024905,003793: 26,2752           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024906,003794: 26,2753           21634                                    TPMODE                                
024907,003795: 26,2754           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
024908,003796: 26,2755           55401                                    LGCUPDTE                              
024909,003797: 
024910,003798: 26,2756           77624                           CALL                                           
024911,003799: 26,2757           11226                                    GRP2PC                                
024912,003800: 26,2760           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
024913,003801: 26,2761           04307                                    SURFFLAG                              
024914,003802: 26,2762           55176                                    RENDEND                               #  NO
024915,003803: 26,2763  E7,1457                                  EBANK=   AIG                                   
024916,003804: 26,2763           33332        MXMYMZ             CAF      AIGBANK                               
024917,003805: 26,2764           54006                           TS       BBANK                                 
024918,003806: 26,2765           31457                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
024919,003807: 26,2766           54765                           TS       CDUSPOT                               
024920,003808: 26,2767           31460                           CA       AMG                                   
024921,003809: 26,2770           54767                           TS       CDUSPOT    +2                         
024922,003810: 26,2771           31461                           CA       AOG                                   
024923,003811: 26,2772           54771                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024924,003812: 26,2773           06042                           TC       INTPRET                               
024925,003813: 

Page 584

024927,003815: 26,2774           45175                           VLOAD    CALL                                  
024928,003816: 26,2775           06522                                    UNITX                                 
024929,003817: 26,2776           47666                                    TRG*NBSM                              
024930,003818: 26,2777           76505                           VXM      VSL1                                  
024931,003819: 26,3000           01734                                    REFSMMAT                              
024932,003820: 26,3001           27677                           STOVL    MX                                    
024933,003821: 26,3002           06520                                    UNITY                                 
024934,003822: 26,3003           77624                           CALL                                           
024935,003823: 26,3004           47675                                    *NBSM*                                
024936,003824: 26,3005           76505                           VXM      VSL1                                  
024937,003825: 26,3006           01734                                    REFSMMAT                              
024938,003826: 26,3007           27705                           STOVL    MY                                    
024939,003827: 26,3010           06516                                    UNITZ                                 
024940,003828: 26,3011           77624                           CALL                                           
024941,003829: 26,3012           47675                                    *NBSM*                                
024942,003830: 26,3013           76505                           VXM      VSL1                                  
024943,003831: 26,3014           01734                                    REFSMMAT                              
024944,003832: 26,3015           37713        SHAFTBQ            STCALL   MZ                                    
024945,003833: 26,3016           55361                                    RADARANG                              
024946,003834: 26,3017           77331                           SSP      VLOAD                                 #  STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024947,003835: 26,3020           01357                                    WHCHREAD                              
024948,003836: 26,3021           00003                           DEC      3          B-14                       
024949,003837: 26,3022           03724                                    ULC                                   
024950,003838: 26,3023           72441                           DOT      SL1                                   
024951,003839: 26,3024           03677                                    MX                                    
024952,003840: 26,3025           24023                           STOVL    SINTH                                 #  18D
024953,003841: 26,3026           03724                                    ULC                                   
024954,003842: 26,3027           72441                           DOT      SL1                                   
024955,003843: 26,3030           03713                                    MZ                                    
024956,003844: 26,3031           34021                           STCALL   COSTH                                 #  16D
024957,003845: 26,3032           26510                                    ARCTAN                                
024958,003846: 26,3033           41221                           BDSU     DMP                                   
024959,003847: 26,3034           03736                                    RRSHAFT                               
024960,003848: 26,3035           15441                                    2PI/8                                 
024961,003849: 26,3036           41472                           SL3R     PUSH                                  
024962,003850: 26,3037           52545                           DLOAD    SL3                                   
024963,003851: 26,3040           01701                                    X789                                  
024964,003852: 26,3041           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
024965,003853: 26,3042           56176                                    0,2                                   
024966,003854: 26,3043           53605                           DMP      SRR*                                  
024967,003855: 26,3044           03722                                    RXZ                                   
024968,003856: 26,3045           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
024969,003857: 26,3046           27547                           STOVL    DELTAQ                                #  EARTH B-29. MOON B-27
024970,003858: 26,3047           03724                                    ULC                                   
024971,003859: 26,3050           76435                           VXV      VSL1                                  
024972,003860: 26,3051           03705                                    MY                                    
024973,003861: 26,3052           77656                           UNIT                                           
024974,003862: 26,3053           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
024975,003863: 26,3054           00747                                    VEHUPFLG                              
024976,003864: 26,3055           55056                                    +1                                    
024977,003865: 

Page 585

024979,003867: 26,3056           27525                           STOVL    BVECTOR                               
024980,003868: 26,3057           06524                                    ZEROVECS                              
024981,003869: 26,3060           03533                           STORE    BVECTOR    +6                         
024982,003870: 26,3061           17541                           STODL    BVECTOR    +12D                       
024983,003871: 26,3062           03722                                    RXZ                                   
024984,003872: 26,3063           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
024985,003873: 26,3064           20577                                    0          -2,1                       
024986,003874: 26,3065           56176                                    0,2                                   
024987,003875: 26,3066           03541                           STORE    BVECTOR    +12D                       
024988,003876: 26,3067           77735                           SLOAD                                          
024989,003877: 26,3070           02011                                    SHAFTVAR                              
024990,003878: 26,3071           41215                           DAD      DMP                                   
024991,003879: 26,3072           15436                                    IMUVAR                                #  RAD**2 B12
024992,003880: 26,3073           03722                                    RXZ                                   
024993,003881: 26,3074           41257                           SRR*     DMP                                   
024994,003882: 26,3075           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
024995,003883: 26,3076           03722                                    RXZ                                   
024996,003884: 26,3077           53657                           SR*      SR*                                   
024997,003885: 26,3100           20577                                    0          -2,1                       
024998,003886: 26,3101           57176                                    0,2                                   
024999,003887: 26,3102           47057                           SR*      RTB                                   
025000,003888: 26,3103           57176                                    0,2                                   
025001,003889: 26,3104           21634                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025002,003890: 26,3105           36707                           STCALL   VARIANCE                              #  B-40
025003,003891: 26,3106           55401                                    LGCUPDTE                              
025004,003892: 
025005,003893: 26,3107           77624                           CALL                                           
025006,003894: 26,3110           11226                                    GRP2PC                                
025007,003895: 26,3111           77624        TRUNBQ             CALL                                           
025008,003896: 26,3112           55361                                    RADARANG                              
025009,003897: 26,3113           77331                           SSP      VLOAD                                 #  STORE TRUNNION CODE (4) FOR R3 IN N49
025010,003898: 26,3114           01357                                    WHCHREAD                              
025011,003899: 26,3115           00004                           DEC      4          B-14                       
025012,003900: 26,3116           03724                                    ULC                                   
025013,003901: 26,3117           76435                           VXV      VSL1                                  
025014,003902: 26,3120           03705                                    MY                                    
025015,003903: 26,3121           76435                           VXV      VSL1                                  #  (ULC X MY) X ULC
025016,003904: 26,3122           03724                                    ULC                                   
025017,003905: 26,3123           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025018,003906: 26,3124           00747                                    VEHUPFLG                              
025019,003907: 26,3125           55126                                    +1                                    
025020,003908: 26,3126           27525                           STOVL    BVECTOR                               
025021,003909: 26,3127           06524                                    ZEROVECS                              
025022,003910: 26,3130           03533                           STORE    BVECTOR    +6                         
025023,003911: 26,3131           17541                           STODL    BVECTOR    +12D                       
025024,003912: 26,3132           03722                                    RXZ                                   
025025,003913: 26,3133           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025026,003914: 26,3134           20577                                    0          -2,1                       
025027,003915: 26,3135           56176                                    0,2                                   
025028,003916: 26,3136           03543                           STORE    BVECTOR    +14D                       
025029,003917: 

Page 586

025031,003919: 26,3137           77735                           SLOAD                                          
025032,003920: 26,3140           02012                                    TRUNVAR                               
025033,003921: 26,3141           41215                           DAD      DMP                                   
025034,003922: 26,3142           15436                                    IMUVAR                                
025035,003923: 26,3143           03722                                    RXZ                                   
025036,003924: 26,3144           41257                           SRR*     DMP                                   
025037,003925: 26,3145           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025038,003926: 26,3146           03722                                    RXZ                                   
025039,003927: 26,3147           53657                           SR*      SR*                                   
025040,003928: 26,3150           20577                                    0          -2,1                       
025041,003929: 26,3151           57176                                    0,2                                   
025042,003930: 26,3152           47057                           SR*      RTB                                   
025043,003931: 26,3153           57176                                    0,2                                   
025044,003932: 26,3154           21634                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025045,003933: 26,3155           16707                           STODL    VARIANCE                              
025046,003934: 26,3156           03732                                    SINTHETA                              
025047,003935: 26,3157           44336                           ASIN     BDSU                                  #  SIN  THETA IN PD6
025048,003936: 26,3160           03734                                    RRTRUN                                
025049,003937: 26,3161           56405                           DMP      SL3R                                  
025050,003938: 26,3162           15441                                    2PI/8                                 
025051,003939: 26,3163           52525                           PDDL     SL3                                   
025052,003940: 26,3164           01703                                    X789       +2                         
025053,003941: 26,3165           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025054,003942: 26,3166           56176                                    0,2                                   
025055,003943: 26,3167           53605                           DMP      SRR*                                  
025056,003944: 26,3170           03722                                    RXZ                                   
025057,003945: 26,3171           21601                                    0,1                                   
025058,003946: 26,3172           37547                           STCALL   DELTAQ                                #  EARTH B-29. MOON B-27
025059,003947: 26,3173           55401                                    LGCUPDTE                              
025060,003948: 26,3174           77624                           CALL                                           
025061,003949: 26,3175           11226                                    GRP2PC                                
025062,003950: 26,3176           77650        RENDEND            GOTO                                           
025063,003951: 26,3177           50562                                    R22LEM93                              
025064,003952:                                                                                                  #  FUNCTIONAL DESCRIPTION
025065,003953:                                                                                                  #  LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025066,003954:                                                                                                  #  COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025067,003955:                                                                                                  #  AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025068,003956: 
025069,003957:                                                                                                  #  SUBROUTINES CALLED
025070,003958:                                                                                                  #   INSTALL   LGCUPDTE  INCORP1   RP-TO-R
025071,003959:                                                                                                  #   INTEGRV   GETULC    INCORP2
025072,003960: 
025073,003961:                                                                                                  #  OUTPUT
025074,003962:                                                                                                  #   CORRECTED CSM STATE VECTOR (PERMANENT)
025075,003963:                                                                                                  #   NUMBER OF MARKS INCORPORATED IN MARKCTR
025076,003964:                                                                                                  #   MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025077,003965:                                                                                                  #   MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025078,003966:                                                                                                  #   UPDATED W-MATRIX
025079,003967: 

Page 587

025081,003969:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025082,003970:                                                                                                  #   LM AND CSM STATE VECTORS
025083,003971:                                                                                                  #   W-MATRIX
025084,003972:                                                                                                  #   MARK TIME IN MKTIME
025085,003973:                                                                                                  #   RADAR RANGE IN RM METERS B-29
025086,003974:                                                                                                  #         RANGE RATE IN RDOTM METERS/CSEC B-7
025087,003975:                                                                                                  #   VEHUPFLG
025088,003976: 
025089,003977: 
025090,003978: 26,3200           77624        LSR22.4            CALL                                           
025091,003979: 26,3201           27412                                    INTSTALL                              
025092,003980: 26,3202           43014                           SET      CLEAR                                 
025093,003981: 26,3203           01472                                    STATEFLG                              
025094,003982: 26,3204           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
025095,003983: 26,3205           77624                           CALL                                           
025096,003984: 26,3206           55242                                    INTGRCAL                              
025097,003985: 26,3207           77624                           CALL                                           
025098,003986: 26,3210           11226                                    GRP2PC                                
025099,003987: 26,3211           45014                           CLEAR    CALL                                  
025100,003988: 26,3212           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
025101,003989: 26,3213           27412                                    INTSTALL                              
025102,003990: 26,3214           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
025103,003991: 26,3215           03463                                    MARKCTR                               
025104,003992: 26,3216           55231                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
025105,003993: 26,3217           43014                           CLEAR    SET                                   
025106,003994: 26,3220           01675                                    D6OR9FLG                              
025107,003995: 26,3221           01476                                    DIM0FLAG                              
025108,003996: 26,3222           43014                           SET      CLEAR                                 
025109,003997: 26,3223           01474                                    VINTFLAG                              
025110,003998: 26,3224           01673                                    INTYPFLG                              
025111,003999: 26,3225           77624                           CALL                                           
025112,004000: 26,3226           55242                                    INTGRCAL                              
025113,004001: 26,3227           77650                           GOTO                                           
025114,004002: 26,3230           54514                                    RANGEBQ                               
025115,004003: 
025116,004004: 
025117,004005: 26,3231           77624        INITWMX6           CALL                                           
025118,004006: 26,3232           55251                                    WLINIT                                #  INITIALIZE W-MATRIX
025119,004007: 26,3233           45014                           SET      CALL                                  
025120,004008: 26,3234           01474                                    VINTFLAG                              
025121,004009: 26,3235           26645                                    SETIFLGS                              
025122,004010: 26,3236           77624                           CALL                                           
025123,004011: 26,3237           55242                                    INTGRCAL                              
025124,004012: 26,3240           77650                           GOTO                                           
025125,004013: 26,3241           54514                                    RANGEBQ                               
025126,004014: 
025127,004015:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025128,004016: 
025129,004017: 26,3242           71220        INTGRCAL           STQ      DLOAD                                 
025130,004018: 26,3243           03675                                    IGRET                                 
025131,004019: 26,3244           03755                                    MKTIME                                
025132,004020: 

Page 588

025134,004022: 26,3245           34041                           STCALL   TDEC1                                 
025135,004023: 26,3246           27135                                    INTEGRV                               
025136,004024: 26,3247           77650                           GOTO                                           
025137,004025: 26,3250           03675                                    IGRET                                 
025138,004026: 
025139,004027:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025140,004028:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025141,004029: 
025142,004030: 26,3251  E5,1400                                  EBANK=   W                                     
025143,004031: 26,3251           77776        WLINIT             EXIT                                           
025144,004032: 26,3252           33331                           CAF      WBANK                                 
025145,004033: 26,3253           54006                           TS       BBANK                                 
025146,004034: 26,3254           33437                           CAF      WSIZE                                 
025147,004035: 26,3255           55256                           TS       W.IND                                 
025148,004036: 26,3256           34755                           CAF      ZERO                                  
025149,004037: 26,3257           51256                           INDEX    W.IND                                 
025150,004038: 26,3260           55400                           TS       W                                     
025151,004039: 26,3261           11256                           CCS      W.IND                                 
025152,004040: 26,3262           03255                           TC       -5                                    
025153,004041: 26,3263           33332                           CAF      AIGBANK                               #  RESTORE EBANK 7
025154,004042: 26,3264           54006                           TS       BBANK                                 
025155,004043: 26,3265           06042                           TC       INTPRET                               
025156,004044: 26,3266           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE,INITIALIZE WITH
025157,004045: 26,3267           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
025158,004046: 26,3270           55274                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
025159,004047: 26,3271           02001                                    WRENDPOS                              
025160,004048: 26,3272           77650                           GOTO                                           
025161,004049: 26,3273           55276                                    WPOSTORE                              
025162,004050: 26,3274           77735        WLSRFPOS           SLOAD                                          
025163,004051: 26,3275           02007                                    WSURFPOS                              
025164,004052: 26,3276           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
025165,004053: 26,3277           20606                                    5                                     
025166,004054: 26,3300           02401                           STORE    W                                     
025167,004055: 26,3301           02411                           STORE    W          +8D                        
025168,004056: 26,3302           02421                           STORE    W          +16D                       
025169,004057: 26,3303           67214                           BON      SLOAD                                 
025170,004058: 26,3304           04307                                    SURFFLAG                              
025171,004059: 26,3305           55311                                    WLSRFVEL                              
025172,004060: 26,3306           02002                                    WRENDVEL                              
025173,004061: 26,3307           77650                           GOTO                                           
025174,004062: 26,3310           55313                                    WVELSTOR                              
025175,004063: 26,3311           77735        WLSRFVEL           SLOAD                                          
025176,004064: 26,3312           02010                                    WSURFVEL                              
025177,004065: 26,3313           02511        WVELSTOR           STORE    W          +72D                       
025178,004066: 26,3314           02521                           STORE    W          +80D                       
025179,004067: 26,3315           02531                           STORE    W          +88D                       
025180,004068: 26,3316           77735                           SLOAD                                          
025181,004069: 26,3317           02003                                    WSHAFT                                
025182,004070: 26,3320           02621                           STORE    W          +144D                      
025183,004071: 26,3321           77735                           SLOAD                                          
025184,004072: 

Page 589

025186,004074: 26,3322           02004                                    WTRUN                                 
025187,004075: 26,3323           02631                           STORE    W          +152D                      
025188,004076: 26,3324           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
025189,004077: 26,3325           02476                                    RENDWFLG                              
025190,004078: 26,3326           03463                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
025191,004079: 26,3327           00000                                    0                                     
025192,004080: 26,3330           77616                           RVQ                                            
025193,004081: 
025194,004082: 26,3331  E5,1400                                  EBANK=   W                                     
025195,004083: 26,3331           54065        WBANK              BBCON    WLINIT                                
025196,004084: 26,3332  E7,1457                                  EBANK=   AIG                                   
025197,004085: 26,3332           54067        AIGBANK            BBCON    LSR22.3                               
025198,004086: 
025199,004087:                                                                                                  #  GETULC
025200,004088: 
025201,004089:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025202,004090:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025203,004091:                                                                                                  #  MAGNITUDE IN 36D.
025204,004092: 
025205,004093: 26,3333           77201        GETULC             SETPD    VLOAD                                 
025206,004094: 26,3334           00001                                    0                                     
025207,004095: 26,3335           01645                                    DELTALEM                              
025208,004096: 26,3336           77754                           LXA,2                                          
025209,004097: 26,3337           03720                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
025210,004098: 26,3340           53257                           VSR*     VAD                                   
025211,004099: 26,3341           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025212,004100: 26,3342           01661                                    RCVLEM                                
025213,004101: 26,3343           53715                           PDVL     VSR*                                  
025214,004102: 26,3344           01573                                    DELTACSM                              
025215,004103: 26,3345           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025216,004104: 26,3346           52255                           VAD      VSU                                   
025217,004105: 26,3347           01607                                    RCVCSM                                
025218,004106: 26,3350           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
025219,004107: 26,3351           21725                                    NORMUNX1                              
025220,004108: 26,3352           17724                           STODL    ULC                                   
025221,004109: 26,3353           00045                                    36D                                   
025222,004110: 26,3354           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
025223,004111: 26,3355           20201                                    0,1                                   
025224,004112: 26,3356           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
025225,004113: 26,3357           03724                                    ULC                                   
025226,004114: 26,3360           77616                           RVQ                                            
025227,004115:                                                                                                  #  RADARANG
025228,004116: 
025229,004117:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025230,004118:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
025231,004119:                                                                                                  #  OUTPUT
025232,004120:                                                                                                  #   ULC IN ULC, PD0
025233,004121:                                                                                                  #   RLC IN PD36D
025234,004122:                                                                                                  #   SIN THETA IN SINTHETA AND PD6
025235,004123:                                                                                                  #   RXZ NORM IN RXZ (N IN X1)
025236,004124: 

Page 590

025238,004126: 26,3361           45020        RADARANG           STQ      CALL                                  
025239,004127: 26,3362           03675                                    RDRET                                 
025240,004128: 26,3363           55333                                    GETULC                                
025241,004129: 26,3364           50276                           VCOMP    DOT                                   
025242,004130: 26,3365           03705                                    MY                                    
025243,004131: 26,3366           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
025244,004132: 26,3367           03732                           STORE    SINTHETA                              
025245,004133: 26,3370           44316                           DSQ      BDSU                                  
025246,004134: 26,3371           06514                                    DP1/4TH                               #  1 - (SIN THETA)**2
025247,004135: 26,3372           41366                           SQRT     DMP                                   
025248,004136: 26,3373           00045                                    36D                                   
025249,004137: 26,3374           60352                           SL1      NORM                                  
025250,004138: 26,3375           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
025251,004139: 26,3376           03722                           STORE    RXZ                                   
025252,004140: 26,3377           77650                           GOTO                                           #  EXIT
025253,004141: 26,3400           03675                                    RDRET                                 
025254,004142: 26,3401           45020        LGCUPDTE           STQ      CALL                                  
025255,004143: 26,3402           03675                                    LGRET                                 
025256,004144: 26,3403           46533                                    INCORP1                               
025257,004145: 26,3404           51575                           VLOAD    ABVAL                                 
025258,004146: 26,3405           02673                                    DELTAX     +6                         
025259,004147: 26,3406           53754                           LXA,2    SRR*                                  
025260,004148: 26,3407           03720                                    SCALSHFT                              #  0-MOON. 2-EARTH
025261,004149: 26,3410           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
025262,004150: 26,3411           24317                           STOVL    R22DISP    +2                         
025263,004151: 26,3412           02665                                    DELTAX                                
025264,004152: 26,3413           53646                           ABVAL    SRR*                                  
025265,004153: 26,3414           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
025266,004154: 26,3415           00315                           STORE    R22DISP                               
025267,004155: 26,3416           54335                           SLOAD    SR                                    
025268,004156: 26,3417           02005                                    RMAX                                  
025269,004157: 26,3420           20613                                    10D                                   
025270,004158: 26,3421           50025                           DSU      BMN                                   
025271,004159: 26,3422           00315                                    R22DISP                               
025272,004160: 26,3423           50566                                    R22LEM96                              #  GO DISPLAY
025273,004161: 26,3424           45335                           SLOAD    DSU                                   
025274,004162: 26,3425           02006                                    VMAX                                  
025275,004163: 26,3426           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
025276,004164: 26,3427           77640                           BMN                                            
025277,004165: 26,3430           50566                                    R22LEM96                              #  GO DISPLAY
025278,004166: 26,3431           77624        ASTOK              CALL                                           
025279,004167: 26,3432           46745                                    INCORP2                               
025280,004168: 26,3433           77650                           GOTO                                           
025281,004169: 26,3434           03675                                    LGRET                                 
025282,004170: 26,3435           00103 03370  IMUVAR             2DEC     E-6        B12                        #  RAD**2
025283,004171: 26,3437           00241        WSIZE              DEC      161        B-14                       
025284,004172: 26,3440           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
025285,004173: 26,3442  E7,1456                                  EBANK=   LOSCOUNT                              
025286,004174: 

Page 591

025288,004176: 
025289,004177:                                                                                                  #  PROGRAM NAME LRS24.1   RR SEARCH ROUTINE
025290,004178:                                                                                                  #  MOD NO  0        BY  P VOLANTE   SDC         DATE 1-15-67
025291,004179: 
025292,004180: 
025293,004181:                                                                                                  #  FUNCTIONAL DESCRIPTION
025294,004182: 
025295,004183:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025296,004184:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025297,004185:                                                                                                  #  LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025298,004186:                                                                                                  #  ATTITUDE MANEUVER.
025299,004187: 
025300,004188: 
025301,004189:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
025302,004190: 
025303,004191: 
025304,004192:                                                                                                  #  SUBROUTINES CALLED
025305,004193: 
025306,004194:                                                                                                  #        LEMCONIC      R61LEM
025307,004195:                                                                                                  #        CSMCONIC      RRDESSM
025308,004196:                                                                                                  #        JOBDELAY      FLAGDOWN
025309,004197:                                                                                                  #        WAITLIST      FLAGUP
025310,004198:                                                                                                  #        RRNB          BANKCALL
025311,004199: 
025312,004200: 
025313,004201:                                                                                                  #  EXIT  - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025314,004202: 
025315,004203: 
025316,004204:                                                                                                  #  OUTPUT
025317,004205: 
025318,004206:                                                                                                  #      DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
025319,004207:                                                                                                  #                                       11111 INDICATES LOCKON ACHIEVED
025320,004208:                                                                                                  #      OMEGAD   (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025321,004209: 
025322,004210:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025323,004211:                                                                                                  #     SEARCH FLAG MUST BE SET
025324,004212:                                                                                                  #     LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025325,004213:                                                                                                  #  DEBRIS
025326,004214: 
025327,004215:                                                                                                  #     RLMSRCH      UXVECT
025328,004216:                                                                                                  #     VXRLM        UYVECT
025329,004217:                                                                                                  #     LOSDESRD     NSRCHPNT
025330,004218:                                                                                                  #     DATAGOOD     OMEGAD
025331,004219:                                                                                                  #     MPAC         PUSHLIST
025332,004220: 
025333,004221: 
025334,004222: 26,3442                                           COUNT*   $$/LRS24                              
025335,004223: 26,3442           34755        LRS24.1            CAF      ZERO                                  
025336,004224: 26,3443           55736                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
025337,004225: 26,3444           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
025338,004226: 26,3445           00006                           EXTEND                                         
025339,004227: 

Page 592

025341,004229: 26,3446           05012                           WOR      CHAN12                                
025342,004230: 26,3447           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
025343,004231: 26,3450           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
025344,004232: 26,3451           00006                           EXTEND                                         
025345,004233: 26,3452           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
025346,004234: 
025347,004235: 
025348,004236: 26,3453           33713                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025349,004237: 26,3454           00004                           INHINT                                         
025350,004238: 26,3455           05203                           TC       WAITLIST                              #  IN 6 SECONDS
025351,004239: 26,3456  E7,1456                                  EBANK=   LOSCOUNT                              
025352,004240: 26,3456           03643 54067                     2CADR    CALLDGCH                              
025353,004241: 26,3460           00003                           RELINT                                         
025354,004242: 26,3461           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
025355,004243: 26,3462           74736                           MASK     REMODBIT                              
025356,004244: 26,3463           00006                           EXTEND                                         
025357,004245: 26,3464           15155                           BZF      ENDOFJOB                              #  YES- WAIT SIX SECONDS
025358,004246: 26,3465           06042                           TC       INTPRET                               
025359,004247: 
025360,004248: 26,3466           43234                           RTB      DAD                                   #   COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025361,004249: 26,3467           21574                                    LOADTIME                              
025362,004250: 26,3470           15715                                    1.5SECS                               
025363,004251: 26,3471           34041        LRS24.11           STCALL   TDEC1                                 
025364,004252: 26,3472           27101                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
025365,004253: 26,3473           77775                           VLOAD                                          
025366,004254: 26,3474           00001                                    RATT                                  
025367,004255: 26,3475           27676                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
025368,004256: 26,3476           00007                                    VATT                                  
025369,004257: 26,3477           17740                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
025370,004258: 26,3500           00015                                    TAT                                   
025371,004259: 26,3501           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
025372,004260: 26,3502           27067                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
025373,004261: 26,3503           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM)-R(LM)
025374,004262: 26,3504           00001                                    RATT                                  
025375,004263: 26,3505           03676                                    RLMSRCH                               
025376,004264: 26,3506           77656                           UNIT                                           
025377,004265: 26,3507           27712                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
025378,004266: 26,3510           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
025379,004267: 26,3511           47256                           UNIT     VXV                                   
025380,004268: 26,3512           00001                                    RATT                                  
025381,004269: 26,3513           77656                           UNIT                                           
025382,004270: 26,3514           03704                           STORE    VXRCM                                 
025383,004271: 26,3515           52375                           VLOAD    VSU                                   
025384,004272: 26,3516           00007                                    VATT                                  
025385,004273: 26,3517           03740                                    SAVLEMV                               
025386,004274: 26,3520           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
025387,004275: 26,3521           01734                                    REFSMMAT                              
025388,004276: 26,3522           03740                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
025389,004277: 26,3523           53135                           SLOAD    BZE                                   #  CHECK IF N=0
025390,004278: 

Page 593

025392,004280: 26,3524           03737                                    NSRCHPNT                              
025393,004281: 26,3525           55636                                    DESGLOS                               #  YES-DESIGNATE ALONG LOS
025394,004282: 26,3526           53025                           DSU      BZE                                   #  IS N=1
025395,004283: 26,3527           15711                                    ONEOCT                                #  YES-CALCULATE X AND Y AXES OF
025396,004284: 26,3530           55623                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
025397,004285: 26,3531           77775                           VLOAD                                          #  NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
025398,004286: 26,3532           03720                                    UXVECT                                
025399,004287: 26,3533           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
025400,004288: 26,3534           03726                                    UYVECT                                #  UXPRIME = ORIGINAL UX
025401,004289: 26,3535           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
025402,004290: 26,3536           77761                           VXSC                                           
025403,004291: 26,3537           15705                                    SIN60DEG                              #  UX =(COS 60)UXPR +(SIN 60)UYPR
025404,004292: 26,3540           27720                           STOVL    UXVECT                                
025405,004293: 26,3541           00015                                    UXVECTPR                              
025406,004294: 26,3542           53361                           VXSC     VAD                                   
025407,004295: 26,3543           06522                                    COS60DEG                              
025408,004296: 26,3544           03720                                    UXVECT                                
025409,004297: 26,3545           77656                           UNIT                                           
025410,004298: 26,3546           27720                           STOVL    UXVECT                                
025411,004299: 26,3547           00015                                    UXVECTPR                              #  UY=(-SIN60)UXPR +(COS 60)UYPR
025412,004300: 26,3550           77761                           VXSC                                           
025413,004301: 26,3551           15705                                    SIN60DEG                              
025414,004302: 26,3552           27726                           STOVL    UYVECT                                
025415,004303: 26,3553           00023                                    UYVECTPR                              
025416,004304: 26,3554           52361                           VXSC     VSU                                   
025417,004305: 26,3555           06522                                    COS60DEG                              
025418,004306: 26,3556           03726                                    UYVECT                                
025419,004307: 26,3557           77656                           UNIT                                           
025420,004308: 26,3560           03726                           STORE    UYVECT                                
025421,004309: 26,3561           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
025422,004310: 26,3562           15707                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
025423,004311: 26,3563           03712                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
025424,004312: 26,3564           64256                           UNIT     MXV                                   
025425,004313: 26,3565           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
025426,004314: 26,3566           77772                           VSL1                                           
025427,004315: 26,3567           25101        CONTDESG           STOVL    RRTARGET                              
025428,004316: 26,3570           03740                                    SAVLEMV                               
025429,004317: 26,3571           01761                           STORE    LOSVEL                                
025430,004318: 26,3572           77776                           EXIT                                           
025431,004319: 26,3573           00004                           INHINT                                         
025432,004320: 26,3574           06032                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
025433,004321: 26,3575           52613                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
025434,004322:                                                                                                  #  POINT IN THE PATTERN
025435,004323: 26,3576           44735        CONTDES2           CS       CDESBIT                               
025436,004324: 26,3577           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
025437,004325: 26,3600           64735                           AD       CDESBIT                               #  A CONTINUOUS DESIGNATE WANTED.
025438,004326: 26,3601           54110                           TS       RADMODES                              
025439,004327: 26,3602           06042                           TC       INTPRET                               
025440,004328: 
025441,004329: 26,3603           77624                           CALL                                           
025442,004330: 

Page 594

025444,004332: 26,3604           52404                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
025445,004333: 
025446,004334: 26,3605           77776                           EXIT                                           
025447,004335: 26,3606           03675                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
025448,004336: 26,3607           03675                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
025449,004337: 
025450,004338: 
025451,004339:                                                                                                  #  COMPUTE OMEGA,ANGLE  BETWEEN RR LOS AND
025452,004340:                                                                                                  #  SPACECRAFT +Z AXIS
025453,004341: 26,3610           00006        OMEGCALC           EXTEND                                         
025454,004342: 26,3611           30036                           DCA      CDUT                                  
025455,004343: 26,3612           53753                           DXCH     TANGNB                                
025456,004344: 26,3613           06042                           TC       INTPRET                               
025457,004345: 26,3614           77624                           CALL                                           
025458,004346: 26,3615           46041                                    RRNB                                  
025459,004347: 26,3616           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025460,004348: 26,3617           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025461,004349: 26,3620           03735                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
025462,004350: 26,3621           77776                           EXIT                                           
025463,004351: 26,3622           05155                           TC       ENDOFJOB                              
025464,004352: 

Page 595

025466,004354:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025467,004355: 
025468,004356: 
025469,004357: 26,3623           47375        CALCXY             VLOAD    VXV                                   
025470,004358: 26,3624           03704                                    VXRCM                                 
025471,004359: 26,3625           03712                                    LOSDESRD                              
025472,004360: 26,3626           77656                           UNIT                                           
025473,004361: 26,3627           27720                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
025474,004362: 26,3630           03712                                    LOSDESRD                              
025475,004363: 26,3631           53435                           VXV      UNIT                                  
025476,004364: 26,3632           03720                                    UXVECT                                
025477,004365: 26,3633           03726                           STORE    UYVECT                                #  UY = LOS X UX
025478,004366: 26,3634           77650                           GOTO                                           
025479,004367: 26,3635           55561                                    OFFCALC                               
025480,004368: 
025481,004369: 
025482,004370: 26,3636           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
025483,004371: 26,3637           03712                                    LOSDESRD                              
025484,004372: 26,3640           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
025485,004373: 26,3641           52172                           VSL1     GOTO                                  
025486,004374: 26,3642           55567                                    CONTDESG                              
025487,004375: 
025488,004376: 
025489,004377: 26,3643           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
025490,004378: 26,3644           74745                           MASK     RNDVZBIT                              
025491,004379: 26,3645           00006                           EXTEND                                         
025492,004380: 26,3646           15261                           BZF      TASKOVER                              #  NO-EXIT R24
025493,004381: 26,3647           37716                           CAF      PRIO25                                #  YES -SCHEDULE JOB TO DRIVE RADAR TO NEXT
025494,004382: 26,3650           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
025495,004383: 26,3651  E7,1675                                  EBANK=   RLMSRCH                               
025496,004384: 26,3651           03654 54067                     2CADR    DATGDCHK                              
025497,004385: 26,3653           05261                           TC       TASKOVER                              
025498,004386: 
025499,004387: 
025500,004388: 26,3654           34750        DATGDCHK           CAF      BIT4                                  
025501,004389: 26,3655           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
025502,004390: 26,3656           02033                           RAND     CHAN33                                
025503,004391: 26,3657           00006                           EXTEND                                         
025504,004392: 26,3660           13667                           BZF      STORE1S                               #  YES- GO TO STORE 11111 FOR DISPLAY IN R1
025505,004393: 26,3661           46245                           CS       SIX                                   
025506,004394: 26,3662           61736                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
025507,004395: 26,3663           00006                           EXTEND                                         
025508,004396: 26,3664           13442                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
025509,004397: 26,3665           25736                           INCR     NSRCHPNT                              #  NO-SET N = N+1 AN GO TO
025510,004398: 26,3666           13444                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
025511,004399: 
025512,004400: 
025513,004401: 26,3667           33703        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
025514,004402: 26,3670           55733                           TS       DATAGOOD                              
025515,004403: 

Page 596

025517,004405: 26,3671           00004                           INHINT                                         
025518,004406: 26,3672           06032                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
025519,004407: 26,3673           52613                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
025520,004408: 26,3674           05155                           TC       ENDOFJOB                              
025521,004409: 
025522,004410: 26,3675           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527-LOS NOT IN MODE2
025523,004411: 26,3676           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
025524,004412: 26,3677           00004                           INHINT                                         #  REQUIRED IN P20
025525,004413: 26,3700           06032                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
025526,004414: 26,3701           55643                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
025527,004415: 26,3702           05155                           TC       ENDOFJOB                              
025528,004416: 
025529,004417: 
025530,004418: 26,3703           25547        ALL1S              DEC      11111      B-14                       
025531,004419: 26,3704           33555 01106  SIN60DEG           2DEC     .86603                                
025532,004420: 26,3706  23,2521               COS60DEG           =        DPHALF                                #  (2DEC   .50)
025533,004421: 26,3706                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
025534,004422: 26,3706                        UYVECTPR           EQUALS   18D                                   
025535,004423: 26,3706                        RLMUNIT            EQUALS   12D                                   
025536,004424: 26,3706           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
025537,004425: 26,3710           00001        ONEOCT             OCT      00001                                 #  ****  NOTE-THESE TWO CONSTANTS MUST ****
025538,004426: 26,3711           00000 00454  3SECONDS           2DEC     300        B-28                       #  ****  BE IN THIS ORDER BECAUSE      ****
025539,004427:                                                                                                  #  ****  ONEOCT NEEDS A LOWER ORDER    ****
025540,004428:                                                                                                  #  ****  WORD OF ZEROES                ****
025541,004429: 26,3713           01130        6SECONDS           DEC      600        B-14                       
025542,004430: 26,3714           00000 00226  1.5SECS            2DEC     150        B-28                       
025543,004431: 26,3716  23,2523               ZERO/SP            EQUALS   HI6ZEROS                              
025544,004432:    4616                                           BLOCK    02                                    
025545,004433:    6000                                           SETLOC   FFTAG5                                
025546,004434:    6000                                           BANK                                           
025547,004435:    6025                                           COUNT*   $$/P20                                
025548,004436:    6025           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
025549,004437:    6026           36031                           DCA      VB56CADR                              #  GOTOPOOH
025550,004438:    6027           15165                           TCF      SUPDXCHZ                              
025551,004439:    6030  E7,1471                                  EBANK=   WHOCARES                              
025552,004440:    6030           03041 66107  VB56CADR           2CADR    TRMTRACK                              
025553,004441: 

Page 597

025555,004443:                                                                                                  #  PROGRAM NAME: R29  (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025556,004444:                                                                                                  #  MOD NO. 2       BY H. BLAIR-SMITH       JULY 2, 1968.
025557,004445: 
025558,004446: 
025559,004447:                                                                                                  #  FUNCTIONAL DESCRIPTION:
025560,004448: 
025561,004449:                                                                                                  #  DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025562,004450:                                                                                                  #  AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
025563,004451:                                                                                                  #  THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
025564,004452:                                                                                                  #  THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025565,004453:                                                                                                  #  DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025566,004454:                                                                                                  #  INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
025567,004455: 
025568,004456:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025569,004457: 
025570,004458: 
025571,004459:                                                                                                  #  SUBROUTINES CALLED:
025572,004460: 
025573,004461:                                                                                                  #  REMODE   RRTONLY
025574,004462:                                                                                                  #  UNIT     MPACVBUF
025575,004463:                                                                                                  #  QUICTRIG AX*SR*T
025576,004464:                                                                                                  #  SPSIN    SPCOS
025577,004465:                                                                                                  #  SETRRECR RROUT
025578,004466:                                                                                                  #  RRRDOT   RRRANGE
025579,004467: 
025580,004468: 
025581,004469:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
025582,004470: 
025583,004471: 
025584,004472:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
025585,004473: 
025586,004474:                                                                                                  #  RM       RDOTM                  (RAW)
025587,004475:                                                                                                  #  AIG      AMG
025588,004476:                                                                                                  #  AOG      TRKMKCNT               TRKMKCNT = 00001 IF SET IS CONSISTENT,
025589,004477:                                                                                                  #  TANGNB   TANGNB +1              OTHERWISE TRKMKCNT = 00000.
025590,004478:                                                                                                  #  MKTIME
025591,004479: 

Page 598

025593,004481: 
025594,004482:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
025595,004483: 
025596,004484:                                                                                                  #  NOR29FLG READRFLG               (TO 1 AND 0 BY FRESH START)  (RESET NOR29FLG TO LET SERVICER RUN R29)
025597,004485:                                                                                                  #  PIPTIME  RADMODES (BIT 10)      (BIT SET TO 0 BY FRESH START)
025598,004486:                                                                                                  #  R(CSM)   V(CSM)
025599,004487:                                                                                                  #  R        V                      (PIPTIME THRU V BY AVE G IN SERVICER)
025600,004488: 
025601,004489: 
025602,004490:                                                                                                  #  DEBRIS:
025603,004491: 
025604,004492:                                                                                                  #  RADMODES (BIT 10)
025605,004493:                                                                                                  #  LOSSM    LOSVDT/4       (= RRTARGET & LOSVEL)
025606,004494:                                                                                                  #  SAVECDUT OLDESFLG       (SAVECDUT = MLOSV)
025607,004495:                                                                                                  #  LOSCMFLG READRFLG
025608,004496: 
025609,004497: 
025610,004498:                                                                                                  #  ALARMS:  NONE.
025611,004499: 
025612,004500: 
025613,004501:                                                                                                  #  COMPONENT JOBS AND TASKS:
025614,004502: 
025615,004503:                                                                                                  #  INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
025616,004504:                                                                                                  #  DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
025617,004505:                                                                                                  #  RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
025618,004506: 
025619,004507: 
025620,004508: 33,2045                                           BANK     33                                    
025621,004509: 33,2000                                           SETLOC   R29/SERV                              
025622,004510: 33,2000                                           BANK                                           
025623,004511: 
025624,004512: 33,2045                                           COUNT*   $$/R29                                
025625,004513: 
025626,004514: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
025627,004515: 

Page 599

025629,004517:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025630,004518:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025631,004519: 
025632,004520: 33,2045           40110        R29                CS       RADMODES                              
025633,004521: 33,2046           74742                           MASK     DESIGBIT                              
025634,004522: 33,2047           00006                           EXTEND                                         
025635,004523: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
025636,004524: 
025637,004525: 33,2051           00004                           INHINT                                         
025638,004526: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
025639,004527: 33,2053           44736                           CS       BIT14                                 
025640,004528: 33,2054           00006                           EXTEND                                         
025641,004529: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
025642,004530: 33,2056           44740                           CS       LOSCMBIT                              
025643,004531: 33,2057           70076                           MASK     FLAGWRD2                              
025644,004532: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025645,004533: 33,2061           44753                           CS       OLDESBIT                              
025646,004534: 33,2062           70074                           MASK     STATE                                 
025647,004535: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
025648,004536: 33,2064           04616                           TC       BANKCALL                              
025649,004537: 33,2065           52167                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
025650,004538: 33,2066           34740                           CA       ANTENBIT                              
025651,004539: 33,2067           70110                           MASK     RADMODES                              
025652,004540: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
025653,004541: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
025654,004542: 
025655,004543: 33,2072           35031                           CA       PRIO21                                #  MODE 1; MUST REMODE.
025656,004544: 33,2073           05072                           TC       NOVAC                                 
025657,004545: 33,2074  E7,1456                                  EBANK=   LOSCOUNT                              
025658,004546: 33,2074           02113 66067                     2CADR    R29REM0J                              #  NEEDS OWN JOB TO RADSTALL IN.
025659,004547: 
025660,004548: 33,2076           44742                           CS       DESIGBIT                              
025661,004549: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
025662,004550: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
025663,004551: 33,2101           34736                           CA       REMODBIT                              
025664,004552: 33,2102           26110                           ADS      RADMODES                              #   SHOW THAT REMODING IS ON.
025665,004553: 33,2103           12573                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
025666,004554: 
025667,004555: 33,2104           34753        SETPRPOS           CA       ONE                                   
025668,004556: 33,2105           05203                           TC       WAITLIST                              
025669,004557: 33,2106  E7,1456                                  EBANK=   LOSCOUNT                              
025670,004558: 33,2106           03564 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
025671,004559: 33,2110           34741                           CA       REPOSBIT                              
025672,004560: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
025673,004561: 33,2112           12573                           TCF      NOR29NOW                              
025674,004562: 

Page 600

025676,004564:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
025677,004565: 
025678,004566: 
025679,004567: 33,2113           34753        R29REM0J           CA       ONE                                   
025680,004568: 33,2114           05203                           TC       WAITLIST                              
025681,004569: 33,2115  E7,1456                                  EBANK=   LOSCOUNT                              
025682,004570: 33,2115           02202 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
025683,004571: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
025684,004572: 33,2120           17706                           CADR     RADSTALL                              
025685,004573: 
025686,004574: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
025687,004575: 33,2122           15155                           TCF      ENDOFJOB                              
025688,004576: 
025689,004577:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025690,004578: 
025691,004579: 25,2000                                           SETLOC   R29S1                                 
025692,004580: 25,2000                                           BANK                                           
025693,004581: 
025694,004582: 25,3564           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
025695,004583: 25,3565           02252                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
025696,004584: 25,3566           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
025697,004585: 25,3567           70110                           MASK     RADMODES                              
025698,004586: 25,3570           54110                           TS       RADMODES                              
025699,004587: 25,3571           15261                           TCF      TASKOVER                              
025700,004588: 
025701,004589: 
025702,004590:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025703,004591: 
025704,004592: 
025705,004593: 33,2045                                           SETLOC   R29                                   
025706,004594: 33,2045                                           BANK                                           
025707,004595: 
025708,004596: 33,2123           00006        R29.LOS            EXTEND                                         
025709,004597: 33,2124           41234                           DCS      PIPTIME                               
025710,004598: 33,2125           52155                           DXCH     MPAC                                  
025711,004599: 33,2126           00006                           EXTEND                                         
025712,004600: 33,2127           30025                           DCA      TIME2                                 
025713,004601: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
025714,004602: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
025715,004603: 33,2132           30155                           CA       MPAC       +1                         
025716,004604: 33,2133           00006                           EXTEND                                         
025717,004605: 33,2134           74740                           MP       BIT12                                 
025718,004606: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
025719,004607: 33,2136           06042                           TC       INTPRET                               
025720,004608: 

Page 601

025722,004610:                                                                                                  #  LOSCMFLG=0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025723,004611:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
025724,004612: 
025725,004613: 
025726,004614: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
025727,004615: 33,2140           01726                                    V(CSM)                                
025728,004616: 33,2141           03527                                    V                                     #  LOSVEL = V(CSM) - V.
025729,004617: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025730,004618: 33,2143           52255                           VAD      VSU                                   #   AND ADD THE RESULT TO R(CSM) - R TO GET
025731,004619: 33,2144           01720                                    R(CSM)                                #   AN UP-TO-DATE LOS VECTOR IN SM AXES.
025732,004620: 33,2145           03521                                    R                                     
025733,004621: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
025734,004622: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025735,004623: 33,2150           66152                                    SETUP29D                              #   FLG TO ON AND GO TO SET UP NEW DATA.
025736,004624: 33,2151           12573                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
025737,004625: 
025738,004626: 33,2152           25101        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025739,004627: 33,2153           00001                                    0                                     
025740,004628: 33,2154           77761                           VXSC                                           
025741,004629: 33,2155           26177                                    .5SECB17                              
025742,004630: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
025743,004631: 33,2157           77414                           CLEAR    EXIT                                  
025744,004632: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
025745,004633: 
025746,004634: 33,2161           40074                           CS       STATE                                 
025747,004635: 33,2162           74753                           MASK     OLDESBIT                              
025748,004636: 33,2163           00006                           EXTEND                                         
025749,004637: 33,2164           12573                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
025750,004638: 33,2165           00004                           INHINT                                         
025751,004639: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
025752,004640: 
025753,004641: 33,2167           11055                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025754,004642: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
025755,004643: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
025756,004644: 33,2172           05203                           TC       WAITLIST                              
025757,004645: 33,2173  E7,1456                                  EBANK=   LOSCOUNT                              
025758,004646: 33,2173           03356 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
025759,004647: 33,2175           12573                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
025760,004648: 
025761,004649: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
025762,004650: 

Page 602

025764,004652:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025765,004653:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025766,004654: 
025767,004655: 
025768,004656: 24,3356                                           BANK     24                                    
025769,004657: 24,2000                                           SETLOC   P20S                                  
025770,004658: 24,2000                                           BANK                                           
025771,004659: 
025772,004660: 24,3356                                           COUNT*   $$/R29                                
025773,004661: 
025774,004662: 24,3356           35031        BEGDES29           CAF      PRIO21                                
025775,004663: 24,3357           05072                           TC       NOVAC                                 
025776,004664: 24,3360  E3,1760                                  EBANK=   LOSVDT/4                              
025777,004665: 24,3360           02550 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
025778,004666: 24,3362           34774        R29DLOOP           CAF      .5SEC                                 
025779,004667: 24,3363           05224                           TC       VARDELAY                              
025780,004668: 
025781,004669: 24,3364           40110                           CS       RADMODES                              
025782,004670: 24,3365           74742                           MASK     DESIGBIT                              
025783,004671: 24,3366           10000                           CCS      A                                     
025784,004672: 24,3367           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
025785,004673: 
025786,004674: 24,3370           40076                           CS       FLAGWRD2                              
025787,004675: 24,3371           74740                           MASK     LOSCMBIT                              
025788,004676: 24,3372           00006                           EXTEND                                         
025789,004677: 24,3373           13376                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025790,004678: 24,3374           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
025791,004679: 24,3375           13356                           TCF      BEGDES29                              
025792,004680: 
025793,004681: 24,3376           34753                           CA       ONE                                   
025794,004682: 24,3377           13363                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.
025795,004683: 

Page 603

025797,004685:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
025798,004686: 
025799,004687:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
025800,004688:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025801,004689:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025802,004690:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025803,004691:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025804,004692: 
025805,004693:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025806,004694:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
025807,004695: 
025808,004696: 
025809,004697: 32,2550                                           BANK     32                                    
025810,004698: 32,2000                                           SETLOC   F2DPS*32                              
025811,004699: 32,2000                                           BANK                                           
025812,004700: 
025813,004701: 32,2550                                           COUNT*   $$/R29                                
025814,004702: 32,2550  E3,1760                                  EBANK=   LOSVDT/4                              
025815,004703: 
025816,004704: 32,2550           34753        R29DODES           CA       ONE                                   
025817,004705: 32,2551           55106                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
025818,004706: 32,2552           34756                           CA       FIVE                                  
025819,004707: 
025820,004708: 32,2553           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
025821,004709: 32,2554           54002                           TS       Q                                     
025822,004710: 32,2555           11106                           CCS      TANG                                  
025823,004711: 32,2556           12564                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
025824,004712: 
025825,004713: 32,2557           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
025826,004714: 32,2560           50002                           INDEX    Q                                     
025827,004715: 32,2561           31761                           DCA      LOSVDT/4                              
025828,004716: 32,2562           50002                           INDEX    Q                                     
025829,004717: 32,2563           21101                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
025830,004718: 
025831,004719: 32,2564           00006        R29DPAS1           EXTEND                                         
025832,004720: 32,2565           50002                           INDEX    Q                                     
025833,004721: 32,2566           31101                           DCA      LOSSM                                 
025834,004722: 32,2567           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025835,004723: 32,2570           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
025836,004724: 32,2571           11106                           CCS      TANG                                  
025837,004725: 32,2572           12600                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
025838,004726: 
025839,004727: 32,2573           00006                           EXTEND                                         
025840,004728: 32,2574           50002                           INDEX    Q                                     
025841,004729: 32,2575           31761                           DCA      LOSVDT/4                              
025842,004730: 32,2576           50002                           INDEX    Q                                     
025843,004731: 32,2577           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025844,004732: 
025845,004733: 32,2600           10002        R29DVEND           CCS      Q                                     
025846,004734: 32,2601           12553                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
025847,004735: 

Page 604

025849,004737:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025850,004738: 
025851,004739: 32,2602           52156                           DXCH     MPAC       +1                         
025852,004740: 32,2603           52155                           DXCH     MPAC                                  
025853,004741: 32,2604           32775                           CA       R29FXLOC                              #  = ADRES INTB15 + -34D
025854,004742: 32,2605           54120                           TS       FIXLOC                                
025855,004743: 32,2606           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025856,004744: 32,2607           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
025857,004745: 32,2610           07535                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025858,004746: 
025859,004747: 32,2611           11106                           CCS      TANG                                  
025860,004748: 32,2612           12614                           TCF      +2                                    
025861,004749: 32,2613           12630                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
025862,004750: 32,2614           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
025863,004751: 32,2615           00006                           EXTEND                                         
025864,004752: 32,2616           30036                           DCA      CDUT                                  
025865,004753: 32,2617           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
025866,004754: 32,2620           30033                           CA       CDUY                                  
025867,004755: 32,2621           54765                           TS       CDUSPOT                               
025868,004756: 32,2622           30034                           CA       CDUZ                                  
025869,004757: 32,2623           54767                           TS       CDUSPOT    +2                         
025870,004758: 32,2624           30032                           CA       CDUX                                  
025871,004759: 32,2625           54771                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025872,004760: 32,2626           04616                           TC       BANKCALL                              
025873,004761: 32,2627           47617                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
025874,004762: 
025875,004763: 32,2630           46250        GOTANGLS           CS       THREE                                 
025876,004764: 32,2631           04616                           TC       BANKCALL                              
025877,004765: 32,2632           47677                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025878,004766: 
025879,004767: 32,2633           11106                           CCS      TANG                                  
025880,004768: 32,2634           12636                           TCF      +2                                    
025881,004769: 32,2635           12703                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
025882,004770: 

Page 605

025884,004772:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025885,004773:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025886,004774: 
025887,004775: 
025888,004776: 32,2636           00004                           INHINT                                         
025889,004777: 32,2637           55106                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
025890,004778: 32,2640           31766                           CA       SAVECDUT                              
025891,004779: 32,2641           05032                           TC       SPCOS                                 
025892,004780: 32,2642           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
025893,004781: 32,2643           41766                           CS       SAVECDUT                              
025894,004782: 32,2644           05033                           TC       SPSIN                                 
025895,004783: 32,2645           54163                           TS       MODE                                  #  MODE = -SIN T.
025896,004784: 32,2646           00006                           EXTEND                                         
025897,004785: 32,2647           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
025898,004786: 32,2650           52155                           DXCH     MPAC                                  
025899,004787: 32,2651           31767                           CA       SAVECDUT   +1                         
025900,004788: 32,2652           05033                           TC       SPSIN                                 
025901,004789: 32,2653           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
025902,004790: 32,2654           00006                           EXTEND                                         
025903,004791: 32,2655           70166                           MP       PUSHLOC                               
025904,004792: 32,2656           00006                           EXTEND                                         
025905,004793: 32,2657           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
025906,004794: 32,2660           20155                           DAS      MPAC                                  
025907,004795: 32,2661           31767                           CA       SAVECDUT   +1                         
025908,004796: 32,2662           05032                           TC       SPCOS                                 
025909,004797: 32,2663           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S .
025910,004798: 32,2664           00006                           EXTEND                                         
025911,004799: 32,2665           70166                           MP       PUSHLOC                               
025912,004800: 32,2666           00006                           EXTEND                                         
025913,004801: 32,2667           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
025914,004802: 32,2670           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
025915,004803: 32,2671           00006                           EXTEND                                         #  - SIN T, COS S COS T).
025916,004804: 32,2672           30155                           DCA      MPAC                                  
025917,004805: 32,2673           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025918,004806: 32,2674           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
025919,004807: 32,2675           34736                           CA       BIT14                                 
025920,004808: 32,2676           12677                           NOOP                                           
025921,004809: 32,2677           00006                           EXTEND                                         
025922,004810: 32,2700           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025923,004811: 32,2701           00003                           RELINT                                         
025924,004812: 32,2702           12552                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
025925,004813: 

Page 606

025927,004815:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025928,004816: 
025929,004817: 
025930,004818: 32,2703           31767        R29DPAS2           CA       SAVECDUT   +1                         
025931,004819: 32,2704           00006                           EXTEND                                         
025932,004820: 32,2705           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
025933,004821: 32,2706           53107                           DXCH     TANG                                  
025934,004822: 32,2707           41766                           CS       SAVECDUT                              
025935,004823: 32,2710           00006                           EXTEND                                         
025936,004824: 32,2711           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
025937,004825: 32,2712           21107                           DAS      TANG                                  #   RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025938,004826: 32,2713           40163                           CS       MODE                                  #  - SIN S)
025939,004827: 32,2714           00006                           EXTEND                                         
025940,004828: 32,2715           71766                           MP       SAVECDUT                              
025941,004829: 32,2716           00006                           EXTEND                                         
025942,004830: 32,2717           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
025943,004831: 32,2720           52155                           DXCH     MPAC                                  
025944,004832: 32,2721           30166                           CA       PUSHLOC                               
025945,004833: 32,2722           00006                           EXTEND                                         
025946,004834: 32,2723           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
025947,004835: 32,2724           20155                           DAS      MPAC                                  
025948,004836: 32,2725           40163                           CS       MODE                                  
025949,004837: 32,2726           00006                           EXTEND                                         
025950,004838: 32,2727           71767                           MP       SAVECDUT   +1                         
025951,004839: 32,2730           00006                           EXTEND                                         
025952,004840: 32,2731           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
025953,004841: 32,2732           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
025954,004842: 32,2733           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
025955,004843: 32,2734           00006                           EXTEND                                         
025956,004844: 32,2735           72776                           MP       RR29GAIN                              
025957,004845: 32,2736           57354                           XCH      TRUNNCMD                              #  STORE REFINED T CMD,GET RAW S CMD.
025958,004846: 32,2737           00006                           EXTEND                                         
025959,004847: 32,2740           72776                           MP       RR29GAIN                              
025960,004848: 32,2741           55355                           TS       SHAFTCMD                              #  STORE REFINED SHAFT COMMAND FOR RROUT
025961,004849: 

Page 607

025963,004851:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
025964,004852:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
025965,004853: 
025966,004854: 
025967,004855: 32,2742           34750        DGOOD?             CAF      BIT4                                  
025968,004856: 32,2743           00006                           EXTEND                                         
025969,004857: 32,2744           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
025970,004858: 32,2745           00004                           INHINT                                         #  (MAINLY FOR RROUT).
025971,004859: 32,2746           00006                           EXTEND                                         
025972,004860: 32,2747           12753                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
025973,004861: 
025974,004862: 32,2750           04616                           TC       BANKCALL                              
025975,004863: 32,2751           52317                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025976,004864: 32,2752           12771                           TCF      END29DOD                              
025977,004865: 
025978,004866: 32,2753           44742        R29LOKON           CS       DESIGBIT                              
025979,004867: 32,2754           70110                           MASK     RADMODES                              
025980,004868: 32,2755           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
025981,004869: 32,2756           44752                           CS       BIT2                                  
025982,004870: 32,2757           00006                           EXTEND                                         
025983,004871: 32,2760           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
025984,004872: 32,2761           34743                           CA       READRBIT                              
025985,004873: 32,2762           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
025986,004874: 32,2763           11055                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
025987,004875: 32,2764           44776                           CS       SUPER110                              #  - 96D + 100D = 4.
025988,004876: 32,2765           64777                           AD       1SEC                                  #  0 + 100D = 100D.
025989,004877: 32,2766           05203                           TC       WAITLIST                              
025990,004878: 32,2767  E7,1456                                  EBANK=   LOSCOUNT                              
025991,004879: 32,2767           03400 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
025992,004880: 32,2771           44740        END29DOD           CS       LOSCMBIT                              
025993,004881: 32,2772           70076                           MASK     FLAGWRD2                              
025994,004882: 32,2773           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
025995,004883: 32,2774           15155                           TCF      ENDOFJOB                              
025996,004884: 
025997,004885: 32,2775           00052        R29FXLOC           ADRES    INTB15+    -34D                       
025998,004886: 32,2776           56655        RR29GAIN           DEC      -.53624                               
025999,004887: 32,2777  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
026000,004888: 32,2777     1100               LOSSM              EQUALS   RRTARGET                              
026001,004889: 32,2777  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
026002,004890: 

Page 608

026004,004892:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026005,004893: 
026006,004894: 
026007,004895: 24,3400                                           BANK     24                                    
026008,004896: 24,2000                                           SETLOC   P20S                                  
026009,004897: 24,2000                                           BANK                                           
026010,004898: 
026011,004899: 24,3400                                           COUNT*   $$/R29                                
026012,004900: 
026013,004901: 24,3400  E7,1456                                  EBANK=   LOSCOUNT                              
026014,004902: 
026015,004903: 24,3400           37717        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
026016,004904: 24,3401           05072                           TC       NOVAC                                 
026017,004905: 24,3402  E7,1456                                  EBANK=   LOSCOUNT                              
026018,004906: 24,3402           03413 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
026019,004907: 
026020,004908: 24,3404           35000                           CA       2SECS                                 
026021,004909: 24,3405           05224                           TC       VARDELAY                              
026022,004910: 
026023,004911: 24,3406           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
026024,004912: 24,3407           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
026025,004913: 24,3410           10000                           CCS      A                                     
026026,004914: 24,3411           13400                           TCF      R29READ                               #  IT'S OK; CALL IT AGAIN.
026027,004915: 24,3412           15261                           TCF      TASKOVER                              #  IT AIN'T; WAIT FOR REDESIGNATE.
026028,004916: 
026029,004917: 24,3413           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
026030,004918: 24,3414           74741                           MASK     NR29FBIT                              
026031,004919: 24,3415           10000                           CCS      A                                     #  TEST "NOR29FLG".
026032,004920: 24,3416           13500                           TCF      ENDR29RD                              #  R29 OVER,EXIT WITH RR STILL LOCKED ON
026033,004921: 24,3417           30110                           CA       RADMODES                              
026034,004922: 24,3420           74752                           MASK     AUTOMBIT                              
026035,004923: 24,3421           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
026036,004924: 24,3422           13475                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
026037,004925: 
026038,004926: 24,3423           04616                           TC       BANKCALL                              
026039,004927: 24,3424           53112                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
026040,004928: 24,3425           04616                           TC       BANKCALL                              
026041,004929: 24,3426           17706                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026042,004930: 24,3427           13475                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
026043,004931: 

Page 609

026045,004933:                                                                                                  #  R29 RADAR READING CONTINUED.
026046,004934: 
026047,004935: 
026048,004936: 24,3430           53105                           DXCH     TIMEHOLD                              
026049,004937: 24,3431           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
026050,004938: 24,3432           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
026051,004939: 24,3433           00006                           EXTEND                                         
026052,004940: 24,3434           30036                           DCA      CDUT                                  
026053,004941: 24,3435           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026054,004942: 24,3436           00006                           EXTEND                                         
026055,004943: 24,3437           30034                           DCA      CDUY                                  
026056,004944: 24,3440           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026057,004945: 24,3441           30032                           CA       CDUX                                  
026058,004946: 24,3442           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026059,004947: 
026060,004948: 24,3443           04616        R29RANGE           TC       BANKCALL                              
026061,004949: 24,3444           53114                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
026062,004950: 24,3445           04616                           TC       BANKCALL                              
026063,004951: 24,3446           17706                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026064,004952: 24,3447           13466                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
026065,004953: 
026066,004954: 24,3450           00004                           INHINT                                         
026067,004955: 24,3451           53331                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026068,004956: 24,3452           53757                           DXCH     RM                                    
026069,004957: 24,3453           52155                           DXCH     MPAC                                  
026070,004958: 24,3454           53755                           DXCH     MKTIME                                
026071,004959: 24,3455           52157                           DXCH     MPAC       +2                         
026072,004960: 24,3456           53753                           DXCH     TANGNB                                
026073,004961: 24,3457           52161                           DXCH     MPAC       +4                         
026074,004962: 24,3460           53460                           DXCH     AIG                                   
026075,004963: 24,3461           30162                           CA       MPAC       +6                         
026076,004964: 24,3462           55461                           TS       AOG                                   
026077,004965: 24,3463           34753                           CA       ONE                                   
026078,004966: 24,3464           55462                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
026079,004967: 24,3465           15155                           TCF      ENDOFJOB                              
026080,004968: 
026081,004969: 24,3466           40101        R29RRR?            CS       FLAGWRD5                              
026082,004970: 24,3467           74742                           MASK     BIT10                                 
026083,004971: 24,3470           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
026084,004972: 24,3471           13475                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
026085,004973: 24,3472           05516                           TC       DOWNFLAG                              
026086,004974: 24,3473           00120                           ADRES    RNGSCFLG                              
026087,004975: 24,3474           13443                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
026088,004976: 
026089,004977: 24,3475           44736        ENDRRD29           CS       BIT14                                 #  TROUBLE MADE US COME HERE TO LEAVE THE
026090,004978: 24,3476           00006                           EXTEND                                         #  RR-READING MODE. DISCREDIT DOWNTEL
026091,004979: 24,3477           03012                           WAND     CHAN12                                
026092,004980: 24,3500           34755        ENDR29RD           CA       ZERO                                  
026093,004981: 24,3501           55462                           TS       TRKMKCNT                              
026094,004982: 24,3502           05516                           TC       DOWNFLAG                              
026095,004983: 

Page 610

026097,004985: 24,3503           00063                           ADRES    READRFLG                              
026098,004986: 24,3504           15155                           TCF      ENDOFJOB                              
026099,004987: 

Page 611

026101,004989:                                                                                                  #  W-MATRIX MONITOR
026102,004990: 
026103,004991: 
026104,004992: 31,2007                                           BANK     31                                    
026105,004993: 31,2000                                           SETLOC   VB67                                  
026106,004994: 31,2000                                           BANK                                           
026107,004995: 31,2007                                           COUNT*   $$/EXTVB                              
026108,004996: 
026109,004997: 31,2007  E4,1600                                  EBANK=   WWPOS                                 
026110,004998: 
026111,004999: 31,2007           06042        V67CALL            TC       INTPRET                               
026112,005000: 31,2010           77624                           CALL                                           
026113,005001: 31,2011           62120                                    V67WW                                 
026114,005002: 31,2012           77776                           EXIT                                           
026115,005003: 31,2013           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
026116,005004: 31,2014           31601                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
026117,005005: 31,2015           53607                           DXCH     WWBIAS     +2                         
026118,005006: 31,2016           00006                           EXTEND                                         
026119,005007: 31,2017           31603                           DCA      WWVEL                                 
026120,005008: 31,2020           53611                           DXCH     WWBIAS     +4                         
026121,005009: 31,2021           00006                           EXTEND                                         
026122,005010: 31,2022           31605                           DCA      WWBIAS                                
026123,005011: 31,2023           53613                           DXCH     WWBIAS     +6                         
026124,005012: 31,2024           32143        V06N99DS           CAF      V06N99                                
026125,005013: 31,2025           04616                           TC       BANKCALL                              
026126,005014: 31,2026           20334                           CADR     GOXDSPF                               
026127,005015: 31,2027           15472                           TCF      ENDEXT                                
026128,005016: 31,2030           12032                           TCF      V6N99PRO                              
026129,005017: 31,2031           12024                           TCF      V06N99DS                              
026130,005018: 31,2032           22007        V6N99PRO           ZL                                             
026131,005019: 31,2033           34756                           CA       FIVE                                  
026132,005020: 31,2034           54002        N99LOOP            TS       Q                                     
026133,005021: 31,2035           50002                           INDEX    Q                                     
026134,005022: 31,2036           41600                           CS       WWPOS                                 
026135,005023: 31,2037           50002                           INDEX    Q                                     
026136,005024: 31,2040           61606                           AD       WWPOS      +6                         
026137,005025: 31,2041           26001                           ADS      L                                     
026138,005026: 31,2042           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026139,005027: 31,2043           12034                           TCF      N99LOOP                               
026140,005028: 31,2044           22000                           LXCH     A                                     
026141,005029: 31,2045           00006                           EXTEND                                         
026142,005030: 31,2046           12051                           BZF      V06N9933                              
026143,005031: 31,2047           05504                           TC       UPFLAG                                
026144,005032: 31,2050           00160                           ADRES    V67FLAG                               
026145,005033: 
026146,005034: 31,2051           06042        V06N9933           TC       INTPRET                               
026147,005035: 31,2052           77414                           BON      EXIT                                  
026148,005036: 31,2053           03707                                    V67FLAG                               
026149,005037: 31,2054           62056                                    +2                                    
026150,005038: 31,2055           15472                           TCF      ENDEXT                                
026151,005039: 31,2056           77745                           DLOAD                                          
026152,005040: 

Page 612

026154,005042: 31,2057           02201                                    WWPOS                                 
026155,005043: 31,2060           72412                           SL4      SL1                                   
026156,005044: 31,2061           14001                           STODL    0D                                    
026157,005045: 31,2062           02203                                    WWVEL                                 
026158,005046: 31,2063           14003                           STODL    2D                                    
026159,005047: 31,2064           02205                                    WWBIAS                                
026160,005048: 31,2065           77661                           SL                                             #  SHIFT FROM NOUN SCALING (B-5) TO
026161,005049: 31,2066           20213                                    10D                                   #  INTERNAL SCALING (B+5)
026162,005050: 31,2067           00005                           STORE    4D                                    
026163,005051: 31,2070           72014                           BON      LXA,1                                 
026164,005052: 31,2071           04307                                    SURFFLAG                              
026165,005053: 31,2072           62102                                    V67SURF                               
026166,005054: 31,2073           00000                                    0D                                    
026167,005055: 31,2074           72130                           SXA,1    LXA,1                                 
026168,005056: 31,2075           02000                                    WRENDPOS                              
026169,005057: 31,2076           00002                                    2D                                    
026170,005058: 31,2077           52130                           SXA,1    GOTO                                  
026171,005059: 31,2100           02001                                    WRENDVEL                              
026172,005060: 31,2101           62110                                    V67CLRF                               
026173,005061: 31,2102           66150        V67SURF            LXA,1    SXA,1                                 
026174,005062: 31,2103           00000                                    0D                                    
026175,005063: 31,2104           02006                                    WSURFPOS                              
026176,005064: 31,2105           66150                           LXA,1    SXA,1                                 
026177,005065: 31,2106           00002                                    2D                                    
026178,005066: 31,2107           02007                                    WSURFVEL                              
026179,005067: 31,2110           66150        V67CLRF            LXA,1    SXA,1                                 
026180,005068: 31,2111           00004                                    4D                                    
026181,005069: 31,2112           02003                                    WTRUN                                 
026182,005070: 31,2113           77730                           SXA,1                                          
026183,005071: 31,2114           02002                                    WSHAFT                                
026184,005072: 31,2115           77414                           CLEAR    EXIT                                  
026185,005073: 31,2116           02676                                    RENDWFLG                              
026186,005074: 31,2117           15472                           TCF      ENDEXT                                
026187,005075: 31,2120           40020        V67WW              STQ      BOV                                   
026188,005076: 31,2121           00051                                    S2                                    
026189,005077: 31,2122           62123                                    +1                                    
026190,005078: 31,2123           45014                           CLEAR    CALL                                  
026191,005079: 31,2124           03667                                    V67FLAG                               
026192,005080: 31,2125           27412                                    INTSTALL                              
026193,005081: 31,2126           71331                           SSP      DLOAD                                 
026194,005082: 31,2127           00051                                    S1                                    
026195,005083: 31,2130           00006                           DEC      6          B-14                       
026196,005084: 31,2131           06524                                    ZEROVECS                              
026197,005085: 31,2132           02201                           STORE    WWPOS                                 
026198,005086: 31,2133           02203                           STORE    WWVEL                                 
026199,005087: 31,2134           02205                           STORE    WWBIAS                                
026200,005088: 31,2135           77770                           AXT,1                                          
026201,005089: 31,2136           00066                           DEC      54         B-14                       
026202,005090: 31,2137           47573        NXPOSVEL           VLOAD*   VSQ                                   
026203,005091: 31,2140           02467                                    W          +54D,1                     
026204,005092: 

Page 613

026206,005094: 31,2141           77650                           GOTO                                           
026207,005095: 31,2142           60002                                    ADDPOS                                
026208,005096: 31,2143           01543        V06N99             VN       0699                                  
026209,005097: 
026210,005098: 30,2000                                           SETLOC   VB67A                                 
026211,005099: 30,2000                                           BANK                                           
026212,005100: 30,2002                                           COUNT*   $$/EXTVB                              
026213,005101: 
026214,005102: 30,2002           77615        ADDPOS             DAD                                            
026215,005103: 30,2003           02201                                    WWPOS                                 
026216,005104: 30,2004           02201                           STORE    WWPOS                                 
026217,005105: 30,2005           47573                           VLOAD*   VSQ                                   
026218,005106: 30,2006           02555                                    W          +108D,1                    
026219,005107: 30,2007           77615                           DAD                                            
026220,005108: 30,2010           02203                                    WWVEL                                 
026221,005109: 30,2011           02203                           STORE    WWVEL                                 
026222,005110: 30,2012           47573                           VLOAD*   VSQ                                   
026223,005111: 30,2013           02643                                    W          +162D,1                    
026224,005112: 30,2014           77615                           DAD                                            
026225,005113: 30,2015           02205                                    WWBIAS                                
026226,005114: 30,2016           02205                           STORE    WWBIAS                                
026227,005115: 30,2017           75500                           TIX,1    SQRT                                  
026228,005116: 30,2020           62137                                    NXPOSVEL                              
026229,005117: 30,2021           77661                           SR                                             #  SHIFT FROM INTERNAL SCALING (B+5) TO
026230,005118: 30,2022           20613                                    10D                                   #  NOUN SCALING (B-5)
026231,005119: 30,2023           16205                           STODL    WWBIAS                                
026232,005120: 30,2024           02203                                    WWVEL                                 
026233,005121: 30,2025           77766                           SQRT                                           
026234,005122: 30,2026           16203                           STODL    WWVEL                                 
026235,005123: 30,2027           02201                                    WWPOS                                 
026236,005124: 30,2030           77766                           SQRT                                           
026237,005125: 30,2031           02201                           STORE    WWPOS                                 
026238,005126: 30,2032           52000                           BOV      GOTO                                  
026239,005127: 30,2033           60035                                    +2                                    
026240,005128: 30,2034           60042                                    V67XXX                                
026241,005129: 30,2035           77745                           DLOAD                                          
026242,005130: 30,2036           06532                                    DPPOSMAX                              
026243,005131: 30,2037           02201                           STORE    WWPOS                                 
026244,005132: 30,2040           02203                           STORE    WWVEL                                 
026245,005133: 30,2041           02205                           STORE    WWBIAS                                
026246,005134: 30,2042           45345        V67XXX             DLOAD    DSU                                   
026247,005135: 30,2043           02201                                    WWPOS                                 
026248,005136: 30,2044           20060                                    FT99999                               
026249,005137: 30,2045           71240                           BMN      DLOAD                                 
026250,005138: 30,2046           60051                                    +3                                    
026251,005139: 30,2047           20060                                    FT99999                               
026252,005140: 30,2050           02201                           STORE    WWPOS                                 
026253,005141: 30,2051           66150                           LXA,1    SXA,1                                 
026254,005142: 30,2052           00051                                    S2                                    
026255,005143: 30,2053           00052                                    QPRET                                 
026256,005144: 

Page 614

026258,005146: 30,2054           77776                           EXIT                                           
026259,005147: 30,2055           04635                           TC       POSTJUMP                              
026260,005148: 30,2056           27423                           CADR     INTWAKE                               
026261,005149: 
026262,005150: 30,2057           01670 17000  FT99999            2DEC     30479      B-19                       
026263,005151: 

Page 615

026265,005153: 25,3572                                           BANK     25                                    
026266,005154: 25,2000                                           SETLOC   RADARUPT                              
026267,005155: 25,2000                                           BANK                                           
026268,005156: 25,3572                                           COUNT*   $$/RRUPT                              
026269,005157: 
026270,005158: 25,3572  E7,1456                                  EBANK=   LOSCOUNT                              
026271,005159: 
026272,005160: 25,3572           44747        RADLITES           CS       BIT5                                  
026273,005161: 25,3573           60061                           AD       ITEMP1                                
026274,005162: 25,3574           10000                           CCS      A                                     
026275,005163: 25,3575           44753                           CS       ONE                                   
026276,005164: 25,3576           13626                           TCF      VLIGHT                                
026277,005165: 
026278,005166: 25,3577           14570                           TCF      RRTRKF                                
026279,005167: 
026280,005168: 25,3600           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
026281,005169: 
026282,005170: 25,3601           34747                           CA       HLITE                                 
026283,005171: 25,3602           54001                           TS       L                                     
026284,005172: 
026285,005173: 25,3603           34747                           CA       LRALTBIT                              
026286,005174: 25,3604           70110        BOTHLITS           MASK     RADMODES                              
026287,005175: 25,3605           10000                           CCS      A                                     
026288,005176: 25,3606           13620                           TCF      ONLITES                               
026289,005177: 
026290,005178: 25,3607           30107                           CA       FLGWRD11                              
026291,005179: 25,3610           50065                           INDEX    ITEMP5                                
026292,005180: 25,3611           74753                           MASK     HFLSHBIT                              
026293,005181: 25,3612           10000                           CCS      A                                     
026294,005182: 25,3613           14570                           TCF      RRTRKF                                
026295,005183: 
026296,005184: 25,3614           00006        LITIT              EXTEND                                         
026297,005185: 25,3615           22066                           QXCH     ITEMP6                                
026298,005186: 25,3616           04602                           TC       TRKFLON    +1                         
026299,005187: 
026300,005188: 25,3617           00066                           TC       ITEMP6                                
026301,005189: 
026302,005190: 25,3620           50065        ONLITES            INDEX    ITEMP5                                
026303,005191: 25,3621           44753                           CS       HFLSHBIT                              
026304,005192: 25,3622           70107                           MASK     FLGWRD11                              
026305,005193: 25,3623           54107                           TS       FLGWRD11                              
026306,005194: 
026307,005195: 25,3624           30001                           CA       L                                     
026308,005196: 25,3625           13614                           TCF      LITIT                                 
026309,005197: 25,3626           54065        VLIGHT             TS       ITEMP5                                
026310,005198: 25,3627           34751                           CA       VLITE                                 
026311,005199: 25,3630           54001                           TS       L                                     
026312,005200: 25,3631           34744                           CA       BIT8                                  
026313,005201: 25,3632           13604                           TCF      BOTHLITS                              
026314,005202: 

Page 616

026316,005204: 25,3633     4747               HLITE              EQUALS   BIT5                                  
026317,005205: 25,3633     4751               VLITE              EQUALS   BIT3                                  

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