Source Code

This source code is very close to the Apollo Guidance Computer software for the Apollo 13 Lunar module. This revision of the Luminary 131 program is from December of 1969, whereas there was a later revision in January of 1970, and still another revision in February, which is the code that flew on the mission. As far as this transcription is concerned, it was originally from a copy made in 1991 of a printout from the collection of AGC developer Don Eyles for collector David Craig. It was subsequently scanned by Gary Neff, reprocessed for online presentation at the now-discontinued History of Recent Science and Technology (HRST) website of MIT's Dibner Institute (the full-quality scans being discarded in the process), and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a high-quality replacement scan for a completely illegible page was later provided by Gary Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many errors to be introduced into the transcription. Accordingly, a second scan of the same physical printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive, and used to correct the transcription errors. All of the scanned materials mentioned, as well as other Luminary 131 related material, are available online. Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017, so the two scans are not identical in that respect. The page-headings in the printout read, in part:
	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.

021062,000002:                                                                                                  ## Copyright:   Public domain.
021063,000003:                                                                                                  ## Filename:    P20-P25.agc
021064,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
021065,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
021066,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
021067,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
021068,000008:                                                                                                  ##              that the code format has been changed to conform to the
021069,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the 
021070,000010:                                                                                                  ##              original YUL assembler.
021071,000011:                                                                                                  ## Reference:   pp. 496-618
021072,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
021073,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
021074,000014:                                                                                                  ## Mod history: 05/15/03 RSB.   Began transcribing.
021075,000015:                                                                                                  ##              12/01/03 RSB.   Entered/corrected the previously-missing code from
021076,000016:                                                                                                  ##                              the bottom of p. 595 using a replacement scan
021077,000017:                                                                                                  ##                              provided by Gary Neff.
021078,000018:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
021079,000019:                                                                                                  ##              2010-10-25 JL   Fixed p583 page number.
021080,000020:                                                                                                  ##              2011-05-07 JL   Removed workarounds.
021081,000021:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
021082,000022:                                                                                                  ##                              original harcopy, as opposed to the PDF page
021083,000023:                                                                                                  ##                              numbers in 1701.pdf.
021084,000024:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
021085,000025:                                                                                                  ##              2017-02-24 RSB  Proofed comment text using octopus/ProoferComments.
021086,000026:                                                                                                  ##              2017-02-28 RSB  Fixed lingering typos.
021087,000027:                                                                                                  ##              2017-03-07 RSB  Comment-text error-fixes noted in proofing Luminary 116.
021088,000028:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
021089,000029:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
021090,000030: 

Page 496

021092,000032:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
021093,000033: 
021094,000034:                                                                                                  #  PROGRAM DESCRIPTION
021095,000035: 
021096,000036:                                                                                                  #        MOD NO - 2
021097,000037:                                                                                                  #        BY P. VOLANTE
021098,000038: 
021099,000039:                                                                                                  #  FUNCTIONAL DESCRIPTION
021100,000040: 
021101,000041:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021102,000042:                                                                                                  #        STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER 
021103,000043:                                                                                                  #        THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021104,000044:                                                                                                  #        ON THE BASIS OF THE RR TRACKING DATA.
021105,000045: 
021106,000046:                                                                                                  #  CALLING SEQUENCE -
021107,000047: 
021108,000048:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E20E
021109,000049: 
021110,000050:                                                                                                  #  SUBROUTINES CALLED
021111,000051: 
021112,000052:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      FLAGUP
021113,000053:                                                                                                  #        GOFLASH (PINBALL-DISPLAY)                       FLAGDOWN
021114,000054:                                                                                                  #        R23LEM  (MANUAL ACQUISITION)                    BANKCALL
021115,000055:                                                                                                  #        LS201   (LOS DETERMINATION)                     TASKOVER
021116,000056:                                                                                                  #        LS202   (RANGE LIMIT TEST)
021117,000057:                                                                                                  #        R61LEM  (PREFERRED TRACKING ATTITUDE)
021118,000058:                                                                                                  #        R21LEM  (RR DESIGNATE)                          ENDOFJOB
021119,000059:                                                                                                  #        R22LEM  (DATA READ)                             GOPERF1
021120,000060:                                                                                                  #        R31LEM  (RENDEZVOUS PARAMETER DISPLAY)  
021121,000061:                                                                                                  #        PRIOLARM (PRIORITY DISPLAY)
021122,000062: 
021123,000063:                                                                                                  #  NORMAL EXIT MODES -
021124,000064: 
021125,000065:                                                                                                  #        P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021126,000066:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021127,000067: 
021128,000068:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021129,000069: 
021130,000070:                                                                                                  #        RANGE GREATER THAN 400 NM DISPLAY
021131,000071: 
021132,000072:                                                                                                  #  OUTPUT
021133,000073: 
021134,000074:                                                                                                  #        TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021135,000075: 
021136,000076:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021137,000077: 
021138,000078:                                                                                                  #  FLAGS SET + RESET
021139,000079: 
021140,000080:                                                                                                  #        SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021141,000081: 
021142,000082:                                                                                                  #  DEBRIS
021143,000083: 
021144,000084:                                                                                                  #        CENTRALS - A,Q,L
021145,000085: 
021146,000086: 25,2073  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
021147,000087: 
021148,000088: 33,2045                                           BANK     33                                    
021149,000089: 24,2000                                           SETLOC   P20S                                  
021150,000090: 24,2000                                           BANK                                           
021151,000091: 
021152,000092: 24,2000  E7,1456                                  EBANK=   LOSCOUNT                              
021153,000093: 24,2000                                           COUNT*   $$/P20                                
021154,000094: 24,2000  24,2000               PROG22             =        PROG20                                
021155,000095: 24,2000           05327        PROG20             TC       2PHSCHNG                              
021156,000096: 24,2001           00004                           OCT      4                                     
021157,000097: 24,2002           05022                           OCT      05022                                 
021158,000098: 24,2003           26000                           OCT      26000                                 #  PRIORITY 26
021159,000099: 24,2004           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE

Page 497

021161,000101: 24,2005           02007                           TC       ORBCHGO                               #  YES
021162,000102: 24,2006           02036                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
021163,000103: 24,2007           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
021164,000104: 24,2010           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
021165,000105: 24,2011           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
021166,000106: 24,2012           55144                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
021167,000107: 24,2013           34363                           CAF      OCT00012                              
021168,000108: 24,2014           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
021169,000109: 24,2015           20634                           CADR     GOPERF4                               
021170,000110: 24,2016           06001                           TC       GOTOPOOH                              #  TERMINATE
021171,000111: 24,2017           02021                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
021172,000112: 24,2020           02013                           TC       -5                                    #  R2 LOADED THRU DSKY
021173,000113: 24,2021           44753        ORBCHG1            CS       ONE                                   
021174,000114: 24,2022           61144                           AD       OPTION2                               
021175,000115: 24,2023           00006                           EXTEND                                         
021176,000116: 24,2024           12040                           BZF      PROG20A                               
021177,000117: 24,2025           32311                           CAF      V06N33*                               
021178,000118: 24,2026           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
021179,000119: 24,2027           20477                           CADR     GOFLASH                               #  TIME OF LAUNCH
021180,000120: 24,2030           06001                           TC       GOTOPOOH                              #  TERMINATE
021181,000121: 24,2031           02033                           TC       ORBCHG2                               #  PROCEED VALUES OK
021182,000122: 24,2032           02025                           TC       -5                                    #  TIME LOADED THRU DSKY
021183,000123: 24,2033           06042        ORBCHG2            TC       INTPRET                               
021184,000124: 24,2034           77650                           GOTO                                           
021185,000125: 24,2035           64217                                    ORBCHG3                               
021186,000126: 
021187,000127: 32,2217                                           BANK     32                                    
021188,000128: 32,2000                                           SETLOC   P20S4                                 
021189,000129: 32,2000                                           BANK                                           
021190,000130: 32,2217                                           COUNT*   $$/P20                                
021191,000131: 
021192,000132: 32,2217           77624        ORBCHG3            CALL                                           
021193,000133: 32,2220           27410                                    INTSTALL                              
021194,000134: 32,2221           77745                           DLOAD                                          
021195,000135: 32,2222           03442                                    TIG                                   
021196,000136: 32,2223           03661                           STORE    LNCHTM                                
021197,000137: 32,2224           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
021198,000138: 32,2225           43014                           CLEAR    CLEAR                                 
021199,000139: 32,2226           01674                                    VINTFLAG                              #  LM INTEGRATION
021200,000140: 32,2227           01673                                    INTYPFLG                              #  PRECISION - ENCKE
021201,000141: 32,2230           43014                           CLEAR    CLEAR                                 
021202,000142: 32,2231           01676                                    DIM0FLAG                              #  NO W-MATRIX
021203,000143: 32,2232           01675                                    D6OR9FLG                              
021204,000144: 32,2233           77624                           CALL                                           
021205,000145: 32,2234           27133                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
021206,000146: 32,2235           77624                           CALL                                           
021207,000147: 32,2236           11210                                    GRP2PC                                
021208,000148: 32,2237           77775                           VLOAD                                          
021209,000149: 32,2240           00017                                    RATT1                                 
021210,000150: 32,2241           17631                           STODL    RSUBL                                 #  SAVE LM POSITION
021211,000151: 32,2242           00015                                    TAT                                   

Page 498

021213,000153: 32,2243           34041                           STCALL   TDEC1                                 
021214,000154: 32,2244           27410                                    INTSTALL                              
021215,000155: 32,2245           43014                           SET      CLEAR                                 
021216,000156: 32,2246           01474                                    VINTFLAG                              #  CSM INTEGRATION
021217,000157: 32,2247           01673                                    INTYPFLG                              
021218,000158: 32,2250           43014                           CLEAR    BOFF                                  
021219,000159: 32,2251           01676                                    DIM0FLAG                              
021220,000160: 32,2252           02756                                    RENDWFLG                              #  W MATRIX VALID
021221,000161: 32,2253           64257                                    NOWMATX                               #  NO
021222,000162: 32,2254           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
021223,000163: 32,2255           01476                                    DIM0FLAG                              
021224,000164: 32,2256           01475                                    D6OR9FLG                              
021225,000165: 32,2257           77624        NOWMATX            CALL                                           
021226,000166: 32,2260           27133                                    INTEGRV                               #  CSM INTEGRATION
021227,000167: 32,2261           77624                           CALL                                           
021228,000168: 32,2262           11210                                    GRP2PC                                
021229,000169: 32,2263           77775                           VLOAD                                          
021230,000170: 32,2264           00025                                    VATT1                                 
021231,000171: 32,2265           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
021232,000172: 32,2266           00017                                    RATT1                                 
021233,000173: 32,2267           01101                           STORE    RSUBC                                 #  SAVE CSM POSITION
021234,000174: 32,2270           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021235,000175: 32,2271           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
021236,000176: 32,2272           24025                           STOVL    20D                                   #  SAVE NSUB1
021237,000177: 32,2273           03631                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
021238,000178: 32,2274           53435                           VXV      UNIT                                  #  PLANE CHANGE
021239,000179: 32,2275           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
021240,000180: 32,2276           27637                           STOVL    UCSM                                  
021241,000181: 32,2277           01101                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
021242,000182: 32,2300           50256                           UNIT     DOT                                   #  AND RSUBC
021243,000183: 32,2301           03637                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
021244,000184: 32,2302           77752                           SL1                                            
021245,000185: 32,2303           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
021246,000186: 32,2304           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
021247,000187: 32,2305           06514                                    ONEB-2                                
021248,000188: 32,2306           77766                           SQRT                                           
021249,000189: 32,2307           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
021250,000190: 32,2310           01101                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
021251,000191: 32,2311           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
021252,000192: 32,2312           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
021253,000193: 32,2313           77676                           VCOMP                                          
021254,000194: 32,2314           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
021255,000195: 32,2315           45014                           CLEAR    CALL                                  
021256,000196: 32,2316           03666                                    RVSW                                  
021257,000197: 32,2317           24732                                    TIMETHET                              
021258,000198: 32,2320           77676                           VCOMP                                          
021259,000199: 32,2321           03645                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
021260,000200: 32,2322           77745                           DLOAD                                          
021261,000201: 32,2323           00037                                    T                                     
021262,000202: 32,2324           27663                           STOVL    TRANSTM                               #  TRANSFER TIME

Page 499

021264,000204: 32,2325           03645                                    NEWVEL                                
021265,000205: 32,2326           77646                           ABVAL                                          
021266,000206: 32,2327           24025                           STOVL    20D                                   
021267,000207: 32,2330           00001                                    0D                                    
021268,000208: 32,2331           03653                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
021269,000209: 32,2332           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021270,000210: 32,2333           03631                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
021271,000211: 32,2334           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
021272,000212: 32,2335           03653                                    NEWPOS                                #  ORBITAL PLANE
021273,000213: 32,2336           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021274,000214: 32,2337           00025                                    20D                                   
021275,000215: 32,2340           37665                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
021276,000216: 32,2341           11210                                    GRP2PC                                
021277,000217: 32,2342           77624                           CALL                                           
021278,000218: 32,2343           27410                                    INTSTALL                              
021279,000219: 32,2344           44345                           DLOAD    BDSU                                  
021280,000220: 32,2345           03663                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
021281,000221: 32,2346           03661                                    LNCHTM                                
021282,000222: 32,2347           25517                           STOVL    TET                                   
021283,000223: 32,2350           03653                                    NEWPOS                                
021284,000224: 32,2351           01535                           STORE    RCV                                   
021285,000225: 32,2352           25503                           STOVL    RRECT                                 
021286,000226: 32,2353           03665                                    NCSMVEL                               
021287,000227: 32,2354           35511                           STCALL   VRECT                                 
021288,000228: 32,2355           27705                                    MINIRECT                              
021289,000229: 32,2356           45174                           AXT,2    CALL                                  
021290,000230: 32,2357           00002                                    2                                     
021291,000231: 32,2360           26660                                    ATOPCSM                               
021292,000232: 32,2361           77624                           CALL                                           
021293,000233: 32,2362           27417                                    INTWAKE0                              
021294,000234: 32,2363           77776                           EXIT                                           
021295,000235: 32,2364           04616                           TC       BANKCALL                              
021296,000236: 32,2365           50040                           CADR     PROG20A                               
021297,000237: 
021298,000238: 24,2036                                           BANK     24                                    
021299,000239: 24,2000                                           SETLOC   P20S                                  
021300,000240: 24,2000                                           BANK                                           
021301,000241: 24,2036                                           COUNT*   $$/P20                                
021302,000242: 
021303,000243: 24,2036           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG - LM STATE VECTOR
021304,000244: 24,2037           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
021305,000245: 24,2040           04616        PROG20A            TC       BANKCALL                              
021306,000246: 24,2041           11233                           CADR     R02BOTH                               
021307,000247: 24,2042           05504                           TC       UPFLAG                                
021308,000248: 24,2043           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
021309,000249: 24,2044           05504                           TC       UPFLAG                                
021310,000250: 24,2045           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021311,000251: 24,2046           05504                           TC       UPFLAG                                
021312,000252: 24,2047           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
021313,000253: 24,2050           05516                           TC       DOWNFLAG                              
021314,000254: 24,2051           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF

Page 500

021316,000256: 24,2052           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
021317,000257: 24,2053           00040                           ADRES    ACMODFLG                              
021318,000258: 24,2054           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
021319,000259: 24,2055           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
021320,000260: 24,2056           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
021321,000261: 24,2057           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
021322,000262: 24,2060           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
021323,000263: 24,2061           00041                           ADRES    LOSCMFLG                              
021324,000264: 24,2062           06011                           TC       CLRADMOD                              
021325,000265: 24,2063           05353        P20LEM1            TC       PHASCHNG                              
021326,000266: 24,2064           04022                           OCT      04022                                 
021327,000267: 24,2065           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
021328,000268: 24,2066           55462                           TS       MARKCTR                               
021329,000269: 24,2067           06042                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
021330,000270: 24,2070           77634                           RTB                                            
021331,000271: 24,2071           21574                                    LOADTIME                              
021332,000272: 24,2072           34041                           STCALL   TDEC1                                 
021333,000273: 24,2073           51256                                    LPS20.1                               
021334,000274: 24,2074           77624                           CALL                                           
021335,000275: 24,2075           53570                                    LPS20.2                               #  TEST RANGE R/UTINE
021336,000276: 24,2076           77776                           EXIT                                           
021337,000277: 24,2077           50154                           INDEX    MPAC                                  
021338,000278: 24,2100           02101                           TC       +1                                    
021339,000279: 24,2101           02111                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
021340,000280: 24,2102           32305        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
021341,000281: 24,2103           04616                           TC       BANKCALL                              
021342,000282: 24,2104           21563                           CADR     PRIOLARM                              
021343,000283: 24,2105           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021344,000284: 24,2106           02102                           TC       -4                                    #  PROC (ILLEGAL
021345,000285: 24,2107           02063                           TC       P20LEM1                               #  ENTER RECYCLE
021346,000286: 24,2110           05155                           TC       ENDOFJOB                              
021347,000287: 
021348,000288: 24,2111           05353        P20LEMA            TC       PHASCHNG                              
021349,000289: 24,2112           04022                           OCT      04022                                 
021350,000290: 24,2113           02670                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
021351,000291: 24,2114           02117                           TC       P20LEMB                               
021352,000292: 24,2115           04616                           TC       BANKCALL                              
021353,000293: 24,2116           46116                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
021354,000294: 24,2117           05353        P20LEMB            TC       PHASCHNG                              
021355,000295: 24,2120           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
021356,000296: 24,2121           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
021357,000297: 24,2122           37717                           CAF      PRIO26                                #  RESTORE PRIORITY 26
021358,000298: 24,2123           05146                           TC       PRIOCHNG                              
021359,000299: 24,2124           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
021360,000300: 24,2125           74747                           MASK     TRACKBIT                              
021361,000301: 24,2126           00006                           EXTEND                                         
021362,000302: 24,2127           12232                           BZF      P20LEMWT                              #  BRANCH - NO - WAIT FOR IT TO BE SET
021363,000303: 24,2130           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
021364,000304: 24,2131           00006                           EXTEND                                         

Page 501

021366,000306: 24,2132           02033                           RAND     CHAN33                                
021367,000307: 24,2133           00006                           EXTEND                                         
021368,000308: 24,2134           12170                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
021369,000309: 
021370,000310: 24,2135           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
021371,000311: 24,2136           61010                           AD       MODREG                                #  MAJOR MODE IS 20
021372,000312: 24,2137           00006                           EXTEND                                         
021373,000313: 24,2140           12153                           BZF      P20LEMB6                              #  BRANCH - YES-OK TO DO PLEASE PERFORM
021374,000314: 
021375,000315: 24,2141           67751                           AD       NEG2                                  #  ALSO CHECK FOR P22
021376,000316: 24,2142           00006                           EXTEND                                         
021377,000317: 24,2143           12153                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
021378,000318: 24,2144           32307                           CAF      ALRM514                               #  TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021379,000319: 24,2145           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
021380,000320: 24,2146           21563                           CADR     PRIOLARM                              
021381,000321: 24,2147           06025                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
021382,000322: 24,2150           02117                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
021383,000323: 24,2151           02117                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
021384,000324: 24,2152           05155                           TC       ENDOFJOB                              
021385,000325: 24,2153           32306        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
021386,000326: 24,2154           04616                           TC       BANKCALL                              
021387,000327: 24,2155           20624                           CADR     GOPERF1                               
021388,000328: 24,2156           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021389,000329: 24,2157           02117                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021390,000330: 24,2160           02670                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
021391,000331: 24,2161           02166                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021392,000332: 24,2162           03137                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
021393,000333: 
021394,000334: 24,2163           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
021395,000335: 24,2164           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
021396,000336: 24,2165           02117                           TC       P20LEMB                               #  RR AUTO MODE
021397,000337: 
021398,000338: 24,2166           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
021399,000339: 24,2167           02117                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
021400,000340: 
021401,000341: 24,2170           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021402,000342: 24,2171           74737                           MASK     RCDU0BIT                              
021403,000343: 24,2172           00006                           EXTEND                                         
021404,000344: 24,2173           12205                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
021405,000345: 24,2174           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
021406,000346: 24,2175           70076                           MASK     FLAGWRD2                              
021407,000347: 24,2176           00006                           EXTEND                                         
021408,000348: 24,2177           12211                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
021409,000349: 24,2200           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
021410,000350: 24,2201           00037                           ADRES    SRCHOPTN                              

Page 502

021412,000352: 24,2202           05516                           TC       DOWNFLAG                              
021413,000353: 24,2203           00040                           ADRES    ACMODFLG                              
021414,000354: 24,2204           02232                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021415,000355: 
021416,000356: 24,2205           32304        P20LEMB4           CAF      250DEC                                
021417,000357: 24,2206           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021418,000358: 24,2207           01736                           CADR     DELAYJOB                              #  ZEROED - THEN GO BACK AND CHECK AGAIN
021419,000359: 24,2210           02170                           TC       P20LEMB3                              
021420,000360: 
021421,000361: 24,2211           06042        P20LEMC3           TC       INTPRET                               
021422,000362: 24,2212           77634                           RTB                                            
021423,000363: 24,2213           21574                                    LOADTIME                              
021424,000364: 24,2214           34041                           STCALL   TDEC1                                 
021425,000365: 24,2215           50312                                    UPPSV                                 
021426,000366: 24,2216           77776        P20LEMC4           EXIT                                           
021427,000367: 24,2217           05353        P20LEMC            TC       PHASCHNG                              
021428,000368: 24,2220           04022                           OCT      04022                                 
021429,000369: 24,2221           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
021430,000370: 24,2222           74745                           MASK     RNDVZBIT                              
021431,000371: 24,2223           00006                           EXTEND                                         
021432,000372: 24,2224           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
021433,000373: 24,2225           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021434,000374: 24,2226           74747                           MASK     TRACKBIT                              
021435,000375: 24,2227           00006                           EXTEND                                         
021436,000376: 24,2230           12264                           BZF      P20LEMD                               #  BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021437,000377: 24,2231           02675        P20LEMF            TC       R21LEM                                
021438,000378: 
021439,000379: 24,2232           32304        P20LEMWT           CAF      250DEC                                
021440,000380: 24,2233           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
021441,000381: 24,2234           02244                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
021442,000382: 24,2235           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021443,000383: 24,2236           74747                           MASK     TRACKBIT                              
021444,000384: 24,2237           00006                           EXTEND                                         
021445,000385: 24,2240           15155                           BZF      ENDOFJOB                              #  NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021446,000386: 24,2241           05353        P20LMWT1           TC       PHASCHNG                              
021447,000387: 24,2242           40072                           OCT      40072                                 
021448,000388: 24,2243           05155                           TC       ENDOFJOB                              
021449,000389: 
021450,000390: 24,2244           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
021451,000391: 24,2245           74745                           MASK     RNDVZBIT                              
021452,000392: 24,2246           00006                           EXTEND                                         
021453,000393: 24,2247           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
021454,000394: 24,2250           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021455,000395: 24,2251           74747                           MASK     TRACKBIT                              
021456,000396: 24,2252           00006                           EXTEND                                         
021457,000397: 24,2253           12261                           BZF      P20LEMC2                              #  NO - DONT SCHEDULE R22 JOB

Page 503

021459,000399: 24,2254           37717                           CAF      PRIO26                                #  YES - SCHEDULE R22 JOB (RR DATA READ)
021460,000400: 24,2255           05105                           TC       FINDVAC                               
021461,000401: 24,2256  E7,1456                                  EBANK=   LOSCOUNT                              
021462,000402: 24,2256           02631 50067                     2CADR    R22LEM42                              
021463,000403: 
021464,000404: 24,2260           05261                           TC       TASKOVER                              
021465,000405: 
021466,000406: 24,2261           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET, WAIT 15 SECONDS
021467,000407: 24,2262           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
021468,000408: 
021469,000409: 24,2263           02244                           TC       P20LEMC1                              
021470,000410: 
021471,000411: 24,2264           32667        P20LEMD            CAF      1500DEC                               
021472,000412: 24,2265           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
021473,000413: 24,2266           02270                           ADRES    P20LEMD1                              
021474,000414: 24,2267           05155                           TC       ENDOFJOB                              
021475,000415: 
021476,000416: 24,2270           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021477,000417: 24,2271           74747                           MASK     TRACKBIT                              
021478,000418: 24,2272           10000                           CCS      A                                     
021479,000419: 24,2273           12277                           TCF      P20LEMD2                              #  YES - SCHEDULE DESIGNATE JOB
021480,000420: 24,2274           05221                           TC       FIXDELAY                              #  NO - WAIT 15 SECONDS
021481,000421: 24,2275           02734                           DEC      1500       B-14                       
021482,000422: 24,2276           02270                           TC       P20LEMD1                              
021483,000423: 
021484,000424: 24,2277           37717        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
021485,000425: 24,2300           05105                           TC       FINDVAC                               
021486,000426: 24,2301  E7,1456                                  EBANK=   LOSCOUNT                              
021487,000427: 24,2301           02211 50067                     2CADR    P20LEMC3                              #  START AT PERM.  MEMORY INTEGRATION
021488,000428: 
021489,000429: 24,2303           05261                           TC       TASKOVER                              
021490,000430: 
021491,000431: 24,2304           00372        250DEC             DEC      250        B-14                       
021492,000432: 24,2305           00526        ALRM526            OCT      00526                                 
021493,000433: 24,2306           00201        OCT201             OCT      00201                                 
021494,000434: 24,2307           00514        ALRM514            OCT      514                                   
021495,000435: 24,2310           00074        MAXTRIES           DEC      60         B-14                       
021496,000436: 24,2311     4363               OCT00012           EQUALS   BINCON                                
021497,000437: 24,2311  23,2513               ONEB-2             EQUALS   DP1/4TH                               
021498,000438: 24,2311           01441        V06N33*            VN       0633                                  
021499,000439: 24,2312           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
021500,000440: 24,2313           01757                                    LS21X                                 #        TO PRESENT TIME
021501,000441: 24,2314           27410                                    INTSTALL                              
021502,000442: 24,2315           77624                           CALL                                           
021503,000443: 24,2316           26643                                    SETIFLGS                              
021504,000444: 24,2317           43014                           BOF      SET                                   #  IF W-MATRIX INVALID, DONT INTEGRATE IT

Page 504

021506,000446: 24,2320           02756                                    RENDWFLG                              
021507,000447: 24,2321           50332                                    UPPSV1                                
021508,000448: 24,2322           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
021509,000449: 24,2323           43014                           BON      SET                                   
021510,000450: 24,2324           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
021511,000451: 24,2325           50327                                    UPPSV5                                
021512,000452: 24,2326           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
021513,000453: 24,2327           77614        UPPSV5             BOF                                            
021514,000454: 24,2330           00747                                    VEHUPFLG                              
021515,000455: 24,2331           50364                                    UPPSV3                                
021516,000456: 24,2332           77614        UPPSV1             SET                                            
021517,000457: 24,2333           01474                                    VINTFLAG                              
021518,000458: 24,2334           77624                           CALL                                           
021519,000459: 24,2335           27133                                    INTEGRV                               
021520,000460: 24,2336           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
021521,000461: 24,2337           11210                                    GRP2PC                                #  TO PROTECT INTEGRATION
021522,000462: 24,2340           77624                           CALL                                           
021523,000463: 24,2341           27410                                    INTSTALL                              
021524,000464: 24,2342           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
021525,000465: 24,2343           01571                                    TETCSM                                
021526,000466: 24,2344           01674                                    VINTFLAG                              
021527,000467: 24,2345           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
021528,000468: 24,2346           26643                                    SETIFLGS                              #        WITHOUT W-MATRIX
021529,000469: 24,2347           34041                           STCALL   TDEC1                                 
021530,000470: 24,2350           27133                                    INTEGRV                               
021531,000471: 24,2351           77214                           BOFF     VLOAD                                 
021532,000472: 24,2352           04347                                    SURFFLAG                              
021533,000473: 24,2353           50216                                    P20LEMC4                              
021534,000474: 24,2354           01661                                    RCVLEM                                
021535,000475: 24,2355           77742                           VSR2                                           
021536,000476: 24,2356           26352                           STOVL    LMPOS                                 
021537,000477: 24,2357           01667                                    VCVLEM                                
021538,000478: 24,2360           77742                           VSR2                                           
021539,000479: 24,2361           02360                           STORE    LMVEL                                 
021540,000480: 24,2362           77650                           GOTO                                           
021541,000481: 24,2363           01757                                    LS21X                                 
021542,000482: 
021543,000483: 24,2364           45014        UPPSV3             CLEAR    CALL                                  
021544,000484: 24,2365           01674                                    VINTFLAG                              
021545,000485: 24,2366           27133                                    INTEGRV                               
021546,000486: 24,2367           77624                           CALL                                           
021547,000487: 24,2370           11210                                    GRP2PC                                
021548,000488: 24,2371           77624                           CALL                                           
021549,000489: 24,2372           27410                                    INTSTALL                              
021550,000490: 24,2373           71214                           SET      DLOAD                                 
021551,000491: 24,2374           01474                                    VINTFLAG                              
021552,000492: 24,2375           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.
021553,000493: 24,2376           77650                           GOTO                                           
021554,000494: 24,2377           50345                                    UPPSV4                                

Page 505

021556,000496: 24,2400  E7,1456                                  EBANK=   LOSCOUNT                              
021557,000497: 24,2400                                           COUNT*   $$/P22                                
021558,000498: 

Page 506

021560,000500:                                                                                                  #  PROGRAM DESCRIPTION
021561,000501: 
021562,000502:                                                                                                  #        PREFERRED TRACKING ATTITUDE PROGRAM P25
021563,000503:                                                                                                  #        MOD NO - 3
021564,000504:                                                                                                  #        BY P. VOLANTE
021565,000505: 
021566,000506:                                                                                                  #  FUNCTIONAL DESCRIPTION
021567,000507: 
021568,000508:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021569,000509:                                                                                                  #        ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021570,000510:                                                                                                  #        CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021571,000511:                                                                                                  #        CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021572,000512: 
021573,000513:                                                                                                  #  CALLING SEQUENCE -
021574,000514: 
021575,000515:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E25E
021576,000516: 
021577,000517:                                                                                                  #  SUBROUTINES CALLED -
021578,000518: 
021579,000519:                                                                                                  #        BANKCALL                                        FLAGUP
021580,000520:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      ENDOFJOB
021581,000521:                                                                                                  #        R61LEM  (PREF TRK ATT ROUT)                     WAITLIST
021582,000522:                                                                                                  #        TASKOVER                                        FINDVAC
021583,000523: 
021584,000524:                                                                                                  #  NORMAL EXIT MODES -
021585,000525: 
021586,000526:                                                                                                  #        P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021587,000527:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021588,000528: 
021589,000529:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021590,000530: 
021591,000531:                                                                                                  #        NONE
021592,000532: 
021593,000533:                                                                                                  #  OUTPUT
021594,000534: 
021595,000535:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021596,000536: 
021597,000537:                                                                                                  #  FLAGS SET + RESET
021598,000538: 
021599,000539:                                                                                                  #        TRACKFLG, P25FLAG
021600,000540: 
021601,000541:                                                                                                  #  DEBRIS
021602,000542: 
021603,000543:                                                                                                  #        NONE
021604,000544: 
021605,000545: 24,2400  E7,1456                                  EBANK=   LOSCOUNT                              
021606,000546: 24,2400                                           COUNT*   $$/P25                                
021607,000547: 24,2400           05327        PROG25             TC       2PHSCHNG                              
021608,000548: 24,2401           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
021609,000549: 24,2402           05022                           OCT      05022                                 
021610,000550: 24,2403           26000                           OCT      26000                                 #  PRIORITY 26
021611,000551: 
021612,000552: 24,2404           04616                           TC       BANKCALL                              
021613,000553: 24,2405           11233                           CADR     R02BOTH                               #  IMU STATUS CHECK
021614,000554: 24,2406           05504                           TC       UPFLAG                                
021615,000555: 24,2407           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021616,000556: 24,2410           05504                           TC       UPFLAG                                
021617,000557: 24,2411           00006                           ADRES    P25FLAG                               #  SET P25FLAG
021618,000558: 24,2412           05516                           TC       DOWNFLAG                              
021619,000559: 24,2413           00010                           ADRES    RNDVZFLG                              
021620,000560: 24,2414           05353        P25LEM1            TC       PHASCHNG                              
021621,000561: 24,2415           04022                           OCT      04022                                 
021622,000562: 24,2416           34743                           CAF      P25FLBIT                              
021623,000563: 24,2417           70074                           MASK     STATE                                 #  IS P25FLAG SET
021624,000564: 24,2420           00006                           EXTEND                                         
021625,000565: 24,2421           15155                           BZF      ENDOFJOB                              
021626,000566: 24,2422           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?

Page 507

021628,000568: 24,2423           70075                           MASK     STATE      +1                         
021629,000569: 24,2424           00006                           EXTEND                                         
021630,000570: 24,2425           12433                           BZF      P25LMWT1                              #  NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021631,000571: 24,2426           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
021632,000572: 24,2427           55745                           TS       R65CNTR                               
021633,000573: 24,2430           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
021634,000574: 24,2431           46123                           CADR     R65LEM                                
021635,000575: 24,2432           02414                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
021636,000576: 24,2433           32444        P25LMWT1           CAF      60SCNDS                               
021637,000577: 24,2434           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
021638,000578: 24,2435           02437                           ADRES    P25LEM2                               
021639,000579: 24,2436           05155                           TC       ENDOFJOB                              
021640,000580: 24,2437           35024        P25LEM2            CAF      PRIO14                                
021641,000581: 24,2440           05105                           TC       FINDVAC                               
021642,000582: 24,2441  E7,1456                                  EBANK=   LOSCOUNT                              
021643,000583: 24,2441           02414 50067                     2CADR    P25LEM1                               
021644,000584: 
021645,000585: 24,2443           05261                           TC       TASKOVER                              
021646,000586: 24,2444           13560        60SCNDS            DEC      6000       B-14                       
021647,000587: 

Page 508

021649,000589:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
021650,000590:                                                                                                  #  PROGRAM DESCRIPTION
021651,000591: 
021652,000592:                                                                                                  #        MOD NO - 2
021653,000593:                                                                                                  #        BY P VOLANTE
021654,000594: 
021655,000595:                                                                                                  #  FUNCTIONAL DESCRIPTION
021656,000596: 
021657,000597:                                                                                                  #        TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021658,000598:                                                                                                  #        LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021659,000599: 
021660,000600:                                                                                                  #  CALLING SEQUENCE -
021661,000601: 
021662,000602:                                                                                                  #        TC      BANKCALL
021663,000603:                                                                                                  #        CADR    R22LEM
021664,000604: 
021665,000605:                                                                                                  #  SUBROUTINES CALLED -
021666,000606: 
021667,000607:                                                                                                  #        LSR22.1         GOFLASH         WAITLIST
021668,000608:                                                                                                  #        LSR22.2         PRIOLARM        BANKCALL
021669,000609:                                                                                                  #        LSR22.3         R61LEM
021670,000610: 
021671,000611:                                                                                                  #  NORMAL EXIT MODES -
021672,000612: 
021673,000613:                                                                                                  #        R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021674,000614:                                                                                                  #        UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021675,000615:                                                                                                  #        R22 WILL TERMINATE SELF.
021676,000616: 
021677,000617:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021678,000618: 
021679,000619:                                                                                                  #        PRIORITY ALARM
021680,000620:                                                                                                  #        PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021681,000621: 
021682,000622:                                                                                                  #  OUTPUT
021683,000623: 
021684,000624:                                                                                                  #        SEE OUTPUT FROM LSR22.3
021685,000625: 
021686,000626:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021687,000627: 
021688,000628:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021689,000629: 
021690,000630:                                                                                                  #  FLAGS SET + RESET
021691,000631: 
021692,000632:                                                                                                  #        NOANGFLG
021693,000633: 
021694,000634:                                                                                                  #  DEBRIS
021695,000635: 
021696,000636:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021697,000637: 
021698,000638: 24,2445  E7,1737                                  EBANK=   LRS22.1X                              
021699,000639: 24,2445                                           COUNT*   $$/R22                                
021700,000640: 24,2445           05353        R22LEM             TC       PHASCHNG                              
021701,000641: 24,2446           04022                           OCT      04022                                 
021702,000642: 24,2447           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
021703,000643: 24,2450           70074                           MASK     STATE                                 
021704,000644: 24,2451           00006                           EXTEND                                         
021705,000645: 24,2452           15155                           BZF      ENDOFJOB                              #  NO - EXIT R22 AND P20
021706,000646: 24,2453           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021707,000647: 24,2454           70075                           MASK     STATE      +1                         
021708,000648: 24,2455           00006                           EXTEND                                         
021709,000649: 24,2456           12640                           BZF      R22WAIT                               #  NO WAIT
021710,000650: 24,2457           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
021711,000651: 24,2460           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARS IT
021712,000652: 24,2461           02012                           RAND     CHAN12                                
021713,000653: 24,2462           00006                           EXTEND                                         
021714,000654: 24,2463           12111                           BZF      P20LEMA                               #  NO - RETURN TO P20
021715,000655: 24,2464           34752                           CAF      BIT2                                  #  YES
021716,000656: 24,2465           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
021717,000657: 24,2466           02033                           RAND     CHAN33                                

Page 509

021719,000659: 24,2467           00006                           EXTEND                                         
021720,000660: 24,2470           12472                           BZF      +2                                    #  YES CONTINUE
021721,000661: 24,2471           02135                           TC       P20LEMB5                              #  NO - SET IT
021722,000662: 24,2472           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021723,000663: 24,2473           74737                           MASK     RCDU0BIT                              
021724,000664: 24,2474           00006                           EXTEND                                         
021725,000665: 24,2475           12631                           BZF      R22LEM42                              #  CDUS BEING ZEROED
021726,000666: 24,2476           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS,AN EXTRA RADAR
021727,000667: 24,2477           00152                           OCT      00152                                 #  READING IS TAKEN, SO BAD DATA ISN'T USED
021728,000668: 24,2500           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
021729,000669: 24,2501           64366                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
021730,000670: 24,2502           50154                           INDEX    MPAC                                  
021731,000671: 24,2503           02504                           TC       +1                                    
021732,000672: 24,2504           02525                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
021733,000673: 24,2505           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021734,000674: 24,2506           32664                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
021735,000675: 24,2507           04616                           TC       BANKCALL                              
021736,000676: 24,2510           21563                           CADR     PRIOLARM                              
021737,000677: 24,2511           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021738,000678: 24,2512           02515                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
021739,000679: 24,2513           02506                           TC       -5                                    #  ENTER (ILLEGAL OPTION)
021740,000680: 24,2514           05155                           TC       ENDOFJOB                              
021741,000681: 
021742,000682: 24,2515           05353        R22LEM1            TC       PHASCHNG                              
021743,000683: 24,2516           04022                           OCT      04022                                 
021744,000684: 24,2517           32665                           CAF      V06N05                                #  DISPLAY DELTA THETA
021745,000685: 24,2520           04616                           TC       BANKCALL                              
021746,000686: 24,2521           20510                           CADR     PRIODSP                               
021747,000687: 24,2522           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021748,000688: 24,2523           02525                           TC       R22LEM2                               #  PROC (OK CONTINUE)
021749,000689: 24,2524           02217                           TC       P20LEMC                               #  ENTER (RECYCLE)
021750,000690: 24,2525           05353        R22LEM2            TC       PHASCHNG                              
021751,000691: 24,2526           04022                           OCT      04022                                 
021752,000692: 24,2527           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021753,000693: 24,2530           02545                           TC       R22LEM3                               #  YES - BYPASS FLAG CHECKS AND LRS22.2
021754,000694: 24,2531           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
021755,000695: 24,2532           74747                           MASK     TRACKBIT                              
021756,000696: 24,2533           00006                           EXTEND                                         
021757,000697: 24,2534           12640                           BZF      R22WAIT                               #  NO - WAIT
021758,000698: 24,2535           04616                           TC       BANKCALL                              #  YES
021759,000699: 24,2536           51334                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021760,000700: 24,2537           50154                           INDEX    MPAC                                  
021761,000701: 24,2540           02541                           TC       +1                                    
021762,000702: 24,2541           02545                           TC       R22LEM3                               #  NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021763,000703: 24,2542           04616                           TC       BANKCALL                              
021764,000704: 24,2543           46116                           CADR     R61LEM                                
021765,000705: 24,2544           02640                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
021766,000706: 24,2545           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
021767,000707: 24,2546           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)

Page 510

021769,000709: 24,2547           00006                           EXTEND                                         
021770,000710: 24,2550           12631                           BZF      R22LEM42                              #  BRANCH - YES
021771,000711: 24,2551           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
021772,000712: 24,2552           74745                           MASK     UPDATBIT                              
021773,000713: 24,2553           00006                           EXTEND                                         
021774,000714: 24,2554           12631                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
021775,000715: 24,2555           37717                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
021776,000716: 24,2556           55055                           TS       PHSPRDT2                              
021777,000717: 
021778,000718: 24,2557           06042                           TC       INTPRET                               
021779,000719: 24,2560           77650                           GOTO                                           
021780,000720: 24,2561           54416                                    LSR22.3                               
021781,000721: 24,2562           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
021782,000722: 24,2563           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
021783,000723: 24,2564           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
021784,000724: 24,2565           12624                           TCF      R22LEM44                              
021785,000725: 24,2566           77776        R22LEM96           EXIT                                           
021786,000726: 24,2567           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
021787,000727: 24,2570           55746                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
021788,000728: 24,2571           05353                           TC       PHASCHNG                              
021789,000729: 24,2572           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
021790,000730: 24,2573           37720                           CAF      PRIO27                                #  PROTECT DISPLAY
021791,000731: 24,2574           05072                           TC       NOVAC                                 
021792,000732: 24,2575  E7,1746                                  EBANK=   N49FLAG                               
021793,000733: 24,2575           02645 50067                     2CADR    N49DSP                                
021794,000734: 
021795,000735: 24,2577           06042                           TC       INTPRET                               
021796,000736: 24,2600           77735                           SLOAD                                          
021797,000737: 24,2601           03747                                    N49FLAG                               
021798,000738: 24,2602           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
021799,000739: 24,2603           50600                                    -3                                    #  SETTING CHANGED - BRANCH - NO
021800,000740: 24,2604           50612                                    R22LEM7                               #  PROCEED
021801,000741: 24,2605           77650                           GOTO                                           #  DISPLAY ANSWERED BY RECYCLE - INCORPORATE
021802,000742: 24,2606           03675                                    LGRET                                 #        NEXT MEASUREMENT
021803,000743: 24,2607           44752        V34TON49           CS       TWO                                   
021804,000744: 24,2610           55746                           TS       N49FLAG                               
021805,000745: 24,2611           05155                           TC       ENDOFJOB                              
021806,000746: 24,2612           77776        R22LEM7            EXIT                                           
021807,000747: 24,2613           31746                           CA       N49FLAG                               #  WAS ANSWER TO DISPLAY PRO OR TERM
021808,000748: 24,2614           64752                           AD       TWO                                   
021809,000749: 24,2615           00006                           EXTEND                                         
021810,000750: 24,2616           12445                           BZF      R22LEM                                #  BRANCH - TERM - TAKE ANOTHER RR READING
021811,000751: 24,2617           06042                           TC       INTPRET                               
021812,000752: 24,2620           77624                           CALL                                           
021813,000753: 24,2621           11210                                    GRP2PC                                #  PHASE CHANGE AND
021814,000754: 24,2622           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
021815,000755: 24,2623           55431                                    ASTOK                                 
021816,000756: 24,2624           25462        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
021817,000757: 24,2625           02670                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021818,000758: 24,2626           02642                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS

Page 511

021820,000760: 24,2627           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
021821,000761: 24,2630           02634                           TC       R22LEM45                              #  R65COUNTER = 5
021822,000762: 24,2631           02670        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021823,000763: 24,2632           02642                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021824,000764: 24,2633           34752                           CA       TWO                                   #  NO - SET R65COUNTER = 2
021825,000765: 24,2634           55745        R22LEM45           TS       R65CNTR                               
021826,000766: 24,2635           04616                           TC       BANKCALL                              
021827,000767: 24,2636           46123                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
021828,000768: 24,2637           02445                           TC       R22LEM                                
021829,000769: 24,2640           32667        R22WAIT            CAF      1500DEC                               
021830,000770: 24,2641           02233                           TC       P20LEMWT   +1                         
021831,000771: 
021832,000772: 24,2642           04616        R22LEM46           TC       BANKCALL                              
021833,000773: 24,2643           01735                           CADR     2SECDELY                              #  WAIT 2 SECONDS AND TAKE ANOTHER MARK
021834,000774: 24,2644           02445                           TC       R22LEM                                
021835,000775: 
021836,000776: 24,2645           32666        N49DSP             CAF      V06N49NB                              
021837,000777: 24,2646           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
021838,000778: 24,2647           20510                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021839,000779: 24,2650           02607                           TC       V34TON49                              #  TERMINATE - SET N49FLAG = -2
021840,000780: 24,2651           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
021841,000781: 24,2652           55746                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
021842,000782: 24,2653           05155                           TC       ENDOFJOB                              
021843,000783: 24,2654           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
021844,000784: 24,2655           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
021845,000785: 24,2656           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
021846,000786: 24,2657           53112                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
021847,000787: 24,2660           04616                           TC       BANKCALL                              #  BAD DATA
021848,000788: 24,2661           17705                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
021849,000789: 24,2662           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021850,000790: 24,2663           02445                           TC       R22LEM                                #  READ SUCCESSFUL - CONTINUE AT R22
021851,000791: 
021852,000792: 24,2664           00525        ALRM525            OCT      00525                                 
021853,000793: 24,2665           01405        V06N05             VN       00605                                 
021854,000794: 24,2666           01461        V06N49NB           VN       00649                                 
021855,000795: 24,2667           02734        1500DEC            DEC      1500       B-14                       
021856,000796: 
021857,000797:                                                                                                  #  LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021858,000798:                                                                                                  #        RETURNS TO CALLER +1 IF P22FLAG SET
021859,000799:                                                                                                  #                TO CALLER +2 IF P22FLAG NOT SET
021860,000800: 
021861,000801: 24,2670                                           COUNT*   $$/P22                                
021862,000802: 24,2670           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
021863,000803: 24,2671           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
021864,000804: 24,2672           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
021865,000805: 24,2673           24002                           INCR     Q                                     #  NOT SET
021866,000806: 24,2674           00002                           TC       Q                                     #  RETURN
021867,000807: 

Page 512

021869,000809:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
021870,000810:                                                                                                  #  PROGRAM DESCRIPTION
021871,000811: 
021872,000812:                                                                                                  #        MOD NO - 2
021873,000813:                                                                                                  #        BY P VOLANTE
021874,000814: 
021875,000815:                                                                                                  #  FUNCTIONAL DESCRIPTION
021876,000816: 
021877,000817:                                                                                                  #        TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021878,000818:                                                                                                  #        OF THE CSM IS ACCOMPLISHED BY THE RADAR.  ROUTINE IS CALLED BY P20.
021879,000819: 
021880,000820:                                                                                                  #  CALLING SEQUENCE -
021881,000821: 
021882,000822:                                                                                                  #        TC      BANKCALL
021883,000823:                                                                                                  #        CADR    R21LEM
021884,000824: 
021885,000825:                                                                                                  #  SUBROUTINES CALLED -
021886,000826: 
021887,000827:                                                                                                  #        FINDVAC         FLAGUP          ENDOFJOB        PRIOLARM
021888,000828:                                                                                                  #        NOVAC           INTPRET         LPS20.1         PHASCHNG
021889,000829:                                                                                                  #        WAITLIST        JOBSLEEP        JOBWAKE         FLAGDOWN
021890,000830:                                                                                                  #        TASKOVER        BANKCALL        RADSTALL        RRDESSM
021891,000831: 
021892,000832:                                                                                                  #  NORMAL EXIT MODES
021893,000833:                                                                                                  #        
021894,000834:                                                                                                  #        WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021895,000835:                                                                                                  #        WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021896,000836: 
021897,000837:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021898,000838: 
021899,000839:                                                                                                  #        PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021900,000840:                                                                                                  #        THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021901,000841:                                                                                                  #        ACQUISITION
021902,000842: 
021903,000843:                                                                                                  #  OUTPUT
021904,000844: 
021905,000845:                                                                                                  #        SEE LPS20.1, RRDESSM
021906,000846: 
021907,000847:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021908,000848: 
021909,000849:                                                                                                  #        RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021910,000850: 
021911,000851:                                                                                                  #  FLAGS SET + RESET
021912,000852: 
021913,000853:                                                                                                  #        LOSCMFLG        LOKONSW
021914,000854: 
021915,000855:                                                                                                  #  DEBRIS
021916,000856: 
021917,000857:                                                                                                  #        SEE LPS20.1, RRDESSM
021918,000858: 
021919,000859: 24,2675  E7,1456                                  EBANK=   LOSCOUNT                              
021920,000860: 24,2675                                           COUNT*   $$/R21                                
021921,000861: 24,2675           44736        R21LEM             CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
021922,000862: 24,2676           00006                           EXTEND                                         

In the printout, there is a red, handwritten hyphen to the right of CHAN12 below.

021924,000864: 24,2677           03012                           WAND     CHAN12                                
021925,000865: 24,2700           02670                           TC       LUNSFCHK                              
021926,000866: 24,2701           02706                           TC       R21LEM5                               
021927,000867: 24,2702           34755                           CAF      ZERO                                  #  COMMAND ANTENNA TO MODE CENTER
021928,000868: 24,2703           55106                           TS       TANG                                  #  IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021929,000869: 24,2704           55107                           TS       TANG       +1                         
021930,000870: 24,2705           02716                           TC       R21LEM6                               
021931,000871: 24,2706           34740        R21LEM5            CAF      BIT12                                 
021932,000872: 24,2707           70110                           MASK     RADMODES                              
021933,000873: 24,2710           10000                           CCS      A                                     
021934,000874: 24,2711           02726                           TC       R21LEM10                              
021935,000875: 24,2712           34735                           CAF      BIT15                                 
021936,000876: 24,2713           55106                           TS       TANG                                  
021937,000877: 24,2714           44736                           CS       HALF                                  
021938,000878: 24,2715           55107                           TS       TANG       +1                         
021939,000879: 

Page 513

021941,000881: 24,2716           05516        R21LEM6            TC       DOWNFLAG                              
021942,000882: 24,2717           00012                           ADRES    LOKONSW                               
021943,000883: 24,2720           04616                           TC       BANKCALL                              
021944,000884: 24,2721           52506                           CADR     RRDESNB                               
021945,000885: 24,2722           02723                           TC       +1                                    
021946,000886: 24,2723           04616                           TC       BANKCALL                              
021947,000887: 24,2724           17705                           CADR     RADSTALL                              
021948,000888: 24,2725           02761                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE - ISSUE ALARM
021949,000889: 24,2726           05504        R21LEM10           TC       UPFLAG                                
021950,000890: 24,2727           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
021951,000891: 24,2730           32310                           CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECONDS)
021952,000892: 24,2731           55113                           TS       DESCOUNT                              #  TO DESIGNATE AND LOCK ON
021953,000893: 24,2732           36250        R21LEM2            CAF      THREE                                 
021954,000894: 24,2733           55456                           TS       LOSCOUNT                              
021955,000895: 24,2734           06042        R21LEM1            TC       INTPRET                               
021956,000896: 24,2735           43234                           RTB      DAD                                   
021957,000897: 24,2736           21574                                    LOADTIME                              
021958,000898: 24,2737           11122                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021959,000899: 24,2740           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
021960,000900: 24,2741           51256                                    LPS20.1                               
021961,000901: 24,2742           77776                           EXIT                                           
021962,000902: 24,2743           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR - ON DESIRED
021963,000903: 24,2744           00012                           ADRES    LOKONSW                               
021964,000904: 24,2745           05516                           TC       DOWNFLAG                              
021965,000905: 24,2746           00126                           ADRES    NORRMON                               
021966,000906: 24,2747           06042                           TC       INTPRET                               
021967,000907: 24,2750           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
021968,000908: 24,2751           52404                                    RRDESSM                               #  DESIGNATE ROUTINE
021969,000909: 24,2752           77776                           EXIT                                           
021970,000910: 24,2753           03002                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
021971,000911:                                                                                                  #  ON LUNAR SURFACE
021972,000912: 24,2754           02111                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
021973,000913: 24,2755           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
021974,000914: 24,2756           17705                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021975,000915: 24,2757           02761                           TC       +2                                    #  BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021976,000916: 24,2760           02770                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021977,000917: 24,2761           33000        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
021978,000918: 24,2762           04616                           TC       BANKCALL                              
021979,000919: 24,2763           21563                           CADR     PRIOLARM                              
021980,000920: 24,2764           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021981,000921: 24,2765           02775                           TC       R21SRCH                               #  PROC
021982,000922: 24,2766           02211                           TC       P20LEMC3                              
021983,000923: 24,2767           05155                           TC       ENDOFJOB                              
021984,000924: 24,2770           05516        R21END             TC       DOWNFLAG                              
021985,000925: 24,2771           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
021986,000926: 24,2772           02670                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021987,000927: 24,2773           02232                           TC       P20LEMWT                              #  YES - BYPASS V50 N 72 DISPLAY
021988,000928: 24,2774           03123                           TC       R21DISP                               #  PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021989,000929: 24,2775           05353        R21SRCH            TC       PHASCHNG                              
021990,000930: 24,2776           04022                           OCT      04022                                 

Page 514

021992,000932: 24,2777           03210                           TC       R24LEM                                #  SEARCH ROUTINE
021993,000933: 24,3000           00503        ALRM503            OCT      00503                                 
021994,000934: 24,3001           00527        ALRM527            OCT      527                                   
021995,000935: 
021996,000936: 24,3002           32310        R21LEM4            CAF      MAXTRIES                              #  SET UP COUNTER FOR
021997,000937: 24,3003           55423                           TS       REPOSCNT                              #  60 PASSES (APPROX 600 SECS.)
021998,000938: 24,3004           05504                           TC       UPFLAG                                
021999,000939: 24,3005           00005                           ADRES    FSPASFLG                              #  SET FIRST PASS FLAG
022000,000940: 24,3006           05516                           TC       DOWNFLAG                              #  RESET LOS BEING
022001,000941: 24,3007           00041                           ADRES    LOSCMFLG                              #  COMPUTED FLAG
022002,000942: 24,3010           06042                           TC       INTPRET                               
022003,000943: 24,3011           77634        R21LEM12           RTB                                            
022004,000944: 24,3012           21574                                    LOADTIME                              
022005,000945: 24,3013           77615        R21LEM00           DAD                                            
022006,000946: 24,3014           11120                                    TENSEC                                #  TIME T = T + 10 SECS.
022007,000947: 24,3015           03425                           STORE    REPOSTM                               #  SAVE FOR LONGCALL AND UPPSV
022008,000948: 24,3016           34041                           STCALL   TDEC1                                 
022009,000949: 24,3017           51256                                    LPS20.1                               #  COMPUTE LOS AT TIME T
022010,000950: 24,3020           77624                           CALL                                           
022011,000951: 24,3021           52404                                    RRDESSM                               
022012,000952: 24,3022           77776                           EXIT                                           
022013,000953: 24,3023           03035                           TC       R21LEM13                              #  LOS NOT IN MODE 2 COVERAGE
022014,000954: 24,3024           05155                           TC       ENDOFJOB                              #  VEHICLE MANEUVER REQUIRED
022015,000955: 24,3025           06032                           TC       KILLTASK                              
022016,000956: 24,3026           52604                           CADR     BEGDES                                
022017,000957: 24,3027           06042                           TC       INTPRET                               
022018,000958: 24,3030           43014                           BOF      CLRGO                                 
022019,000959: 24,3031           00345                                    FSPASFLG                              #  FIRST PASS THRU REPOSITION
022020,000960: 24,3032           51045                                    R21LEMB                               #  NO - GO TO CONTINUOUS DESIGNATE
022021,000961: 24,3033           00225                                    FSPASFLG                              #  YES - RESET FIRST PASS FLAG
022022,000962: 24,3034           51042                                    R21LEM50                              
022023,000963: 24,3035           11423        R21LEM13           CCS      REPOSCNT                              #  HAVE WE TRIED 60 TIMES?
022024,000964: 24,3036           03040                           TC       R21LEM7                               #  NO - ADD 10 SECS.  RECOMPUTE LOS
022025,000965: 24,3037           03107                           TC       R21LEM11                              #  YES - PUT OUT ALARM 530
022026,000966: 24,3040           55423        R21LEM7            TS       REPOSCNT                              
022027,000967: 24,3041           06042                           TC       INTPRET                               
022028,000968: 24,3042           52145        R21LEM50           DLOAD    GOTO                                  
022029,000969: 24,3043           03425                                    REPOSTM                               
022030,000970: 24,3044           51013                                    R21LEM00                              
022031,000971: 24,3045           77745        R21LEMB            DLOAD                                          
022032,000972: 24,3046           03425                                    REPOSTM                               
022033,000973: 24,3047           34041                           STCALL   TDEC1                                 
022034,000974: 24,3050           50312                                    UPPSV                                 
022035,000975: 24,3051           77776                           EXIT                                           
022036,000976: 24,3052           05504                           TC       UPFLAG                                #  SET RADMODES BIT 15 FOR
022037,000977: 24,3053           00264                           ADRES    CDESFLAG                              #  CONTINUOUS DESIGNATION
022038,000978: 24,3054           05516                           TC       DOWNFLAG                              
022039,000979: 24,3055           00012                           ADRES    LOKONSW                               
022040,000980: 24,3056           05504                           TC       UPFLAG                                

Page 515

022042,000982: 24,3057           00126                           ADRES    NORRMON                               
022043,000983: 24,3060           04616                           TC       BANKCALL                              
022044,000984: 24,3061           52506                           CADR     RRDESNB                               
022045,000985: 24,3062           03063                           TC       +1                                    
022046,000986: 24,3063           06042                           TC       INTPRET                               
022047,000987: 24,3064           44234                           RTB      BDSU                                  
022048,000988: 24,3065           21574                                    LOADTIME                              #  COMPUTE DELTA TIME
022049,000989: 24,3066           03425                                    REPOSTM                               #  FOR LONGCALL
022050,000990: 24,3067           03427                           STORE    DELTATM                               
022051,000991: 24,3070           77776                           EXIT                                           
022052,000992: 24,3071           00006                           EXTEND                                         
022053,000993: 24,3072           31427                           DCA      DELTATM                               
022054,000994: 24,3073           05277                           TC       LONGCALL                              
022055,000995: 24,3074  E7,1456                                  EBANK=   LOSCOUNT                              
022056,000996: 24,3074           03077 50067                     2CADR    R21LEM9                               
022057,000997: 
022058,000998: 24,3076           05155                           TC       ENDOFJOB                              
022059,000999: 24,3077           06032        R21LEM9            TC       KILLTASK                              
022060,001000: 24,3100           52613                           CADR     STDESIG                               
022061,001001: 24,3101           06011                           TC       CLRADMOD                              
022062,001002: 24,3102           37717                           CAF      PRIO26                                
022063,001003: 24,3103           05105                           TC       FINDVAC                               
022064,001004: 24,3104  E7,1456                                  EBANK=   LOSCOUNT                              
022065,001005: 24,3104           02726 50067                     2CADR    R21LEM10                              
022066,001006: 
022067,001007: 24,3106           05261                           TC       TASKOVER                              
022068,001008: 24,3107           33116        R21LEM11           CAF      ALRM530                               #  ALARM 530 - LOS NOT IN COVERAGE
022069,001009: 24,3110           04616                           TC       BANKCALL                              #  AFTER TRYING TO DESIGNATE FOR
022070,001010: 24,3111           21563                           CADR     PRIOLARM                              #  600 SECS.
022071,001011: 24,3112           06025                           TC       GOTOV56                               
022072,001012: 24,3113           06025                           TC       GOTOV56                               
022073,001013: 24,3114           06025                           TC       GOTOV56                               
022074,001014: 24,3115           05155                           TC       ENDOFJOB                              
022075,001015: 24,3116           00530        ALRM530            OCT      00530                                 
022076,001016: 24,3117           00000 01750  TENSEC             2DEC     1000       B-28                       
022077,001017: 
022078,001018: 24,3121           00000 00062  HALFSEC            2DEC     50         B-28                       
022079,001019: 
022080,001020: 24,3123           05353        R21DISP            TC       PHASCHNG                              
022081,001021: 24,3124           04022                           OCT      04022                                 
022082,001022: 24,3125           33136                           CAF      V06N72PV                              #  FLASH V 50 N 72 - PLEASE PERFORM RR
022083,001023: 24,3126           04616                           TC       BANKCALL                              #  MAIN LOBE LOCKON VERIFICATION
022084,001024: 24,3127           20711                           CADR     GOPERF2R                              
022085,001025: 24,3130           06025                           TC       GOTOV56                               #  TERMINATE EXITS VIA V 56
022086,001026: 24,3131           02232                           TC       P20LEMWT                              #  PROCEED CONTINUES TO R22
022087,001027: 24,3132           03125                           TC       -5                                    #  ENTER ILLEGAL
022088,001028: 24,3133           34745                           CAF      BIT7                                  
022089,001029: 24,3134           05464                           TC       LINUS                                 #  SET BITS TO MAKE THIS A PRIORITY DISPLAY
022090,001030: 24,3135           05155                           TC       ENDOFJOB                              
022091,001031: 

Page 516

022093,001033: 24,3136           01510        V06N72PV           VN       00672                                 
022094,001034: 

Page 517

022096,001036:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
022097,001037:                                                                                                  #  PROGRAM DESCRIPTION
022098,001038: 
022099,001039:                                                                                                  #        MOD NO - 2
022100,001040:                                                                                                  #        BY P VOLANTE
022101,001041: 
022102,001042:                                                                                                  #  FUNCTIONAL DESCRIPTION
022103,001043: 
022104,001044:                                                                                                  #        TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022105,001045: 
022106,001046:                                                                                                  #  CALLING SEQUENCE -
022107,001047: 
022108,001048:                                                                                                  #        TC      R23LEM
022109,001049: 
022110,001050:                                                                                                  #  SUBROUTINES CALLED
022111,001051: 
022112,001052:                                                                                                  #        BANKCALL        R61LEM
022113,001053:                                                                                                  #        SETMINDB        GOPERF1
022114,001054: 
022115,001055:                                                                                                  #  NORMAL EXIT MODES -
022116,001056: 
022117,001057:                                                                                                  #        IN RESPONSE TO THE GOPERF1      ,SELECTION OF ENTER WILL RECYCLE R23
022118,001058:                                                                                                  #                                        ,SELECTION OF PROC WILL CONTINUE R23
022119,001059:                                                                                                  #                                        ,SELECTION OF TERM WILL TERMINATE R23 + P20
022120,001060: 
022121,001061:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022122,001062: 
022123,001063:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022124,001064: 
022125,001065:                                                                                                  #  OUTPUT
022126,001066: 
022127,001067:                                                                                                  #        N.A.
022128,001068: 
022129,001069:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
022130,001070: 
022131,001071:                                                                                                  #        ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022132,001072: 
022133,001073: 24,3137     1142                                  EBANK=   GENRET                                
022134,001074: 24,3137                                           COUNT*   $$/R23                                
022135,001075: 24,3137           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
022136,001076: 24,3140           00126                           ADRES    NORRMON                               
022137,001077: 24,3141           00004                           INHINT                                         
022138,001078: 24,3142           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
022139,001079: 24,3143           40141                           CADR     SETMINDB                              
022140,001080: 24,3144           00003                           RELINT                                         
022141,001081: 24,3145           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
022142,001082: 24,3146           00006                           EXTEND                                         
022143,001083: 24,3147           05012                           WOR      CHAN12                                
022144,001084: 24,3150           33207                           CAF      OCT205                                
022145,001085: 24,3151           04616                           TC       BANKCALL                              
022146,001086: 24,3152           20624                           CADR     GOPERF1                               
022147,001087: 24,3153           03200                           TC       R23LEM2                               #  TERMINATE
022148,001088: 24,3154           03156                           TC       R23LEM11                              #  PROCEDE
022149,001089: 24,3155           03203                           TC       R23LEM3                               #  ENTER - DO ANOTHER MANUVER
022150,001090: 24,3156           00004        R23LEM11           INHINT                                         
022151,001091: 24,3157           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
022152,001092: 24,3160           00035                           ADRES    CDUT                                  
022153,001093: 24,3161           03170                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
022154,001094: 24,3162           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
022155,001095: 24,3163           40115                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
022156,001096: 24,3164           00003                           RELINT                                         
022157,001097: 24,3165           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022158,001098: 24,3166           00126                           ADRES    NORRMON                               
022159,001099: 24,3167           02163                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
022160,001100: 24,3170           00003        OUTOFLIM           RELINT                                         

Page 518

022162,001102: 24,3171           33206                           CAF      OCT501PV                              
022163,001103: 24,3172           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
022164,001104: 24,3173           21563                           CADR     PRIOLARM                              #  LIMITS
022165,001105: 24,3174           03200                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022166,001106: 24,3175           03171                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
022167,001107: 24,3176           03203                           TC       R23LEM3                               #  RECYCLE - DO ANOTHER MANUVER
022168,001108: 24,3177           05155                           TC       ENDOFJOB                              
022169,001109: 24,3200           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022170,001110: 24,3201           00126                           ADRES    NORRMON                               
022171,001111: 24,3202           06025                           TC       GOTOV56                               #  AND EXIT VIA V56
022172,001112: 24,3203           04616        R23LEM3            TC       BANKCALL                              
022173,001113: 24,3204           46116                           CADR     R61LEM                                
022174,001114: 24,3205           03145                           TC       R23LEM1                               
022175,001115: 
022176,001116: 24,3206           00501        OCT501PV           OCT      501                                   
022177,001117: 24,3207           00205        OCT205             OCT      205                                   
022178,001118: 

Page 519

022180,001120:                                                                                                  #  SEARCH ROUTINE R24LEM
022181,001121:                                                                                                  #  PROGRAM DESCRIPTION
022182,001122: 
022183,001123:                                                                                                  #        MOD NO - 2
022184,001124:                                                                                                  #        BY P. VOLANTE
022185,001125: 
022186,001126:                                                                                                  #  FUNCTIONAL DESCRIPTION
022187,001127: 
022188,001128:                                                                                                  #        TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022189,001129:                                                                                                  #        FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022190,001130:                                                                                                  #        THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022191,001131: 
022192,001132:                                                                                                  #  CALLING SEQUENCE
022193,001133: 
022194,001134:                                                                                                  #        CAF     PRIONN
022195,001135:                                                                                                  #        TC      FINDVAC
022196,001136:                                                                                                  #        EBANK=  DATAGOOD
022197,001137:                                                                                                  #        2CADR   R24LEM
022198,001138: 
022199,001139:                                                                                                  #  SUBROUTINES CALLED
022200,001140: 
022201,001141:                                                                                                  #        FLAGUP          FLAGDOWN        BANKCALL
022202,001142:                                                                                                  #        R61LEM          GOFLASHR        FINDVAC
022203,001143:                                                                                                  #        ENDOFJOB        NOVAC           LSR24.1
022204,001144: 
022205,001145:                                                                                                  #  NORMAL EXIT MODES -
022206,001146: 
022207,001147:                                                                                                  #        ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.  HE CAN EITHER
022208,001148:                                                                                                  #        REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022209,001149:                                                                                                  #        PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022210,001150: 
022211,001151:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022212,001152: 
022213,001153:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022214,001154: 
022215,001155:                                                                                                  #  OUTPUT -
022216,001156: 
022217,001157:                                                                                                  #        SEE OUTPUT FROM LSR24.1 + R61LEM
022218,001158: 
022219,001159:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022220,001160: 
022221,001161:                                                                                                  #        SEE INPUT FOR LSR24.1
022222,001162: 
022223,001163:                                                                                                  #  FLAGS SET + RESET
022224,001164: 
022225,001165:                                                                                                  #        SRCHOPT, ACMODFLG
022226,001166: 
022227,001167: 24,3210  E7,1733                                  EBANK=   DATAGOOD                              
022228,001168: 24,3210                                           COUNT*   $$/R24                                
022229,001169: 24,3210           05504        R24LEM             TC       UPFLAG                                
022230,001170: 24,3211           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
022231,001171: 24,3212           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
022232,001172: 24,3213           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
022233,001173: 24,3214           34755        R24LEM1            CAF      ZERO                                  
022234,001174: 24,3215           55733                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
022235,001175: 24,3216           55734                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
022236,001176: 24,3217           55735                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
022237,001177: 24,3220           05353        R24LEM2            TC       PHASCHNG                              
022238,001178: 24,3221           04022                           OCT      04022                                 
022239,001179: 24,3222           33255                           CAF      V16N80                                
022240,001180: 24,3223           04616                           TC       BANKCALL                              
022241,001181: 24,3224           20505                           CADR     PRIODSPR                              
022242,001182: 24,3225           06025                           TC       GOTOV56                               
022243,001183: 24,3226           03232                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
022244,001184: 
022245,001185: 24,3227           03236                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C

Page 520

022247,001187: 24,3230           04616                           TC       BANKCALL                              
022248,001188: 24,3231           55442                           CADR     LRS24.1                               
022249,001189: 24,3232           06032        R24END             TC       KILLTASK                              
022250,001190: 24,3233           55643                           CADR     CALLDGCH                              
022251,001191: 24,3234           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
022252,001192: 24,3235           12063                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
022253,001193: 
022254,001194:    6011                                           BLOCK    3                                     
022255,001195:    6000                                           SETLOC   FFTAG6                                
022256,001196:    6000                                           BANK                                           
022257,001197:    6011                                           COUNT*   $$/R24                                
022258,001198: 
022259,001199:    6011           46021        CLRADMOD           CS       BIT10+15                              
022260,001200:    6012           00004                           INHINT                                         
022261,001201:    6013           70110                           MASK     RADMODES                              
022262,001202:    6014           54110                           TS       RADMODES                              
022263,001203:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
022264,001204:    6016           00006                           EXTEND                                         
022265,001205:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
022266,001206: 
022267,001207:    6020           00002                           TC       Q                                     
022268,001208: 
022269,001209:    6021           41000        BIT10+15           OCT      41000                                 
022270,001210: 
022271,001211: 24,3236                                           BANK     24                                    
022272,001212: 24,2000                                           SETLOC   P20S                                  
022273,001213: 24,2000                                           BANK                                           
022274,001214: 24,3236                                           COUNT*   $$/R24                                
022275,001215: 
022276,001216: 24,3236           05353        R24LEM3            TC       PHASCHNG                              
022277,001217: 24,3237           04022                           OCT      04022                                 
022278,001218: 24,3240           06032                           TC       KILLTASK                              
022279,001219: 24,3241           55643                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
022280,001220: 24,3242           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES
022281,001221: 24,3243           34774                           CAF      .5SEC                                 
022282,001222: 24,3244           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
022283,001223: 24,3245           01736                           CADR     DELAYJOB                              
022284,001224: 24,3246           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
022285,001225: 24,3247           03252                           TC       R24LEM4                               #  YES - DONT DO ATTITUDE MANEUVER
022286,001226: 24,3250           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
022287,001227: 24,3251           46116                           CADR     R61LEM                                #  ATTITUDE MANEUVER
022288,001228: 24,3252           34755        R24LEM4            CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
022289,001229: 24,3253           55303                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022290,001230:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
022291,001231: 24,3254           03220                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
022292,001232: 
022293,001233: 24,3255           04120        V16N80             VN       01680                                 
022294,001234: 

Page 521

022296,001236:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022297,001237:                                                                                                  #  PROGRAM DESCRIPTION
022298,001238: 
022299,001239:                                                                                                  #        MOD NO: 3               DATE: 4-11-67
022300,001240:                                                                                                  #        MOD BY: P VOLANTE  SDC
022301,001241: 
022302,001242:                                                                                                  #  FUNCTIONAL DESCRIPTION -
022303,001243: 
022304,001244:                                                                                                  #        TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022305,001245:                                                                                                  #        TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022306,001246:                                                                                                  #        ATTITUDE.
022307,001247: 
022308,001248:                                                                                                  #  CALLING SEQUENCE -
022309,001249: 
022310,001250:                                                                                                  #        TC      BANKCALL
022311,001251:                                                                                                  #        CADR    R61LEM
022312,001252: 
022313,001253:                                                                                                  #  SUBROUTINES CALLED
022314,001254: 
022315,001255:                                                                                                  #        LPS20.1         VECPOINT
022316,001256:                                                                                                  #        KALCMAN3
022317,001257: 
022318,001258:                                                                                                  #  NORMAL EXIT MODES -
022319,001259: 
022320,001260:                                                                                                  #        NORMAL RETURN IS TO CALLER + 1
022321,001261: 
022322,001262:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022323,001263: 
022324,001264:                                                                                                  #        TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022325,001265:                                                                                                  #        RENDEZVOUS FLAG ARE NOT SET.
022326,001266: 
022327,001267:                                                                                                  #  OUTPUT -
022328,001268: 
022329,001269:                                                                                                  #        SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022330,001270: 
022331,001271:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022332,001272: 
022333,001273:                                                                                                  #        GENRET USED TO SAVE Q FOR RETURN
022334,001274: 
022335,001275:                                                                                                  #  FLAGS SET + RESET
022336,001276: 
022337,001277:                                                                                                  #        3AXISFLG
022338,001278: 
022339,001279:                                                                                                  #  DEBRIS
022340,001280: 
022341,001281:                                                                                                  #        SEE SUBROUTINES
022342,001282: 
022343,001283: 23,2000                                           SETLOC   R61                                   
022344,001284: 23,2000                                           BANK                                           
022345,001285: 23,2116  E7,1456                                  EBANK=   LOSCOUNT                              
022346,001286: 23,2116                                           COUNT*   $$/R61                                
022347,001287: 23,2116           04645        R61LEM             TC       MAKECADR                              
022348,001288: 23,2117           55142                           TS       GENRET                                
022349,001289: 23,2120           05504                           TC       UPFLAG                                #  SET R61 FLAG
022350,001290: 23,2121           00024                           ADRES    R61FLAG                               
022351,001291: 23,2122           02152                           TC       R61C+L02                              
022352,001292: 23,2123           04645        R65LEM             TC       MAKECADR                              
022353,001293: 23,2124           55142                           TS       GENRET                                
022354,001294: 23,2125           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
022355,001295: 23,2126           00024                           ADRES    R61FLAG                               
022356,001296: 23,2127           34750        R61C+L01           CAF      BIT4                                  #  BYPASS RADAR READING IF DATA
022357,001297: 23,2130           00006                           EXTEND                                         #  GOOD NOT PRESENT
022358,001298: 23,2131           02033                           RAND     CHAN33                                
022359,001299: 23,2132           10000                           CCS      A                                     
022360,001300: 23,2133           12152                           TCF      R61C+L02                              #  NO DATA GOOD
022361,001301: 23,2134           05504                           TC       UPFLAG                                

Page 522

022363,001303: 23,2135           00063                           ADRES    R04FLAG                               #  PREVENT 521 ALM
022364,001304: 23,2136           04616                           TC       BANKCALL                              #  READ RR RANGE AND RDOT
022365,001305: 23,2137           53112                           CADR     RRRDOT                                #        EVERY R65 PASS (3 TIMES
022366,001306: 23,2140           04616                           TC       BANKCALL                              #        BEFORE FIRST MARK, ONCE
022367,001307: 23,2141           17705                           CADR     RADSTALL                              #        DURING ANY MARK PROCESSING,
022368,001308: 23,2142           12143                           NOOP                                           
022369,001309: 23,2143           04616                           TC       BANKCALL                              
022370,001310: 23,2144           53114                           CADR     RRRANGE                               
022371,001311: 23,2145           04616                           TC       BANKCALL                              
022372,001312: 23,2146           17705                           CADR     RADSTALL                              
022373,001313: 23,2147           12150                           NOOP                                           
022374,001314: 23,2150           05516                           TC       DOWNFLAG                              
022375,001315: 23,2151           00063                           ADRES    R04FLAG                               
022376,001316: 23,2152           34747        R61C+L02           CAF      TRACKBIT                              #  TRACKFLAG
022377,001317: 23,2153           70075                           MASK     STATE      +1                         
022378,001318: 23,2154           00006                           EXTEND                                         
022379,001319: 23,2155           12314                           BZF      R65WAIT                               #  NOT SET
022380,001320: 23,2156           06042        R61C+L03           TC       INTPRET                               
022381,001321: 23,2157           77775                           VLOAD                                          
022382,001322: 23,2160           06516                                    HIUNITZ                               
022383,001323: 23,2161           03765                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
022384,001324: 23,2162           43234        R61LEM1            RTB      DAD                                   
022385,001325: 23,2163           21574                                    LOADTIME                              #  EXTRAPOLATE FORWARD TO CENTER
022386,001326: 23,2164           15712                                    3SECONDS                              #  SIX SECOND PERIOD.
022387,001327: 23,2165           34041                           STCALL   TDEC1                                 
022388,001328: 23,2166           51256                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
022389,001329: 23,2167           77775                           VLOAD                                          
022390,001330: 23,2170           01101                                    RRTARGET                              
022391,001331: 23,2171           03773                           STORE    POINTVSM                              
022392,001332: 23,2172           45034                           RTB      CALL                                  #  GET DESIRED CDU'S FOR VECPNT1
022393,001333: 23,2173           46322                                    READCDUD                              
022394,001334: 23,2174           56032                                    VECPNT1                               #  COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022395,001335: 23,2175           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022396,001336: 23,2176           77776                           EXIT                                           
022397,001337: 23,2177           05353                           TC       PHASCHNG                              
022398,001338: 23,2200           04022                           OCT      04022                                 
022399,001339: 23,2201           34747                           CAF      TRACKBIT                              #  IS TRACK FLAG SET
022400,001340: 23,2202           70075                           MASK     FLAGWRD1                              
022401,001341: 23,2203           00006                           EXTEND                                         
022402,001342: 23,2204           12314                           BZF      R65WAIT                               
022403,001343: 23,2205           04616                           TC       BANKCALL                              
022404,001344: 23,2206           54261                           CADR     G+N,AUTO                              #  CHECK FOR AUTO MODE
022405,001345: 23,2207           10000                           CCS      A                                     
022406,001346: 23,2210           02302                           TC       R61C+L04                              #  NOT IN AUTO
022407,001347: 23,2211           06042                           TC       INTPRET                               
022408,001348: 23,2212           45175                           VLOAD    CALL                                  
022409,001349: 23,2213           01101                                    RRTARGET                              
022410,001350: 23,2214           47650                                    CDU*SMNB                              
022411,001351: 23,2215           45345                           DLOAD    DSU                                   #  GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022412,001352: 23,2216           00162                                    MPAC       +5                         

Page 523

022414,001354: 23,2217           06320                                    COS15DEG                              
022415,001355: 23,2220           77440        R61LEM2            BMN      EXIT                                  #  BRANCH - PHI > 15 DEGREES
022416,001356: 23,2221           46236                                    R61C+L05                              #  PHI GRE 10DEG
022417,001357: 23,2222  E6,1634                                  EBANK=   CDUXD                                 
022418,001358: 23,2222           35015                           CAF      EBANK6                                
022419,001359: 23,2223           54003                           TS       EBANK                                 
022420,001360: 23,2224           00004                           INHINT                                         
022421,001361: 23,2225           00006                           EXTEND                                         
022422,001362: 23,2226           30322                           DCA      CPHI                                  
022423,001363: 23,2227           53635                           DXCH     CDUXD                                 
022424,001364: 23,2230           30323                           CA       CPSI                                  
022425,001365: 23,2231           55636                           TS       CDUZD                                 
022426,001366: 23,2232           00003                           RELINT                                         
022427,001367: 23,2233  E7,1456                                  EBANK=   LOSCOUNT                              
022428,001368: 23,2233           35016                           CAF      EBANK7                                
022429,001369: 23,2234           54003                           TS       EBANK                                 
022430,001370: 23,2235           02261                           TC       R61C+L06                              
022431,001371: 23,2236           77776        R61C+L05           EXIT                                           
022432,001372: 23,2237           00004                           INHINT                                         
022433,001373: 23,2240           04674                           TC       IBNKCALL                              
022434,001374: 23,2241           40154                           FCADR    ZATTEROR                              
022435,001375: 23,2242           04674                           TC       IBNKCALL                              
022436,001376: 23,2243           40141                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
022437,001377: 23,2244           05516                           TC       DOWNFLAG                              
022438,001378: 23,2245           00124                           ADRES    3AXISFLG                              
022439,001379: 23,2246           05504                           TC       UPFLAG                                
022440,001380: 23,2247           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
022441,001381: 23,2250           04616                           TC       BANKCALL                              
022442,001382: 23,2251           54123                           CADR     R60LEM                                
022443,001383: 23,2252           00004                           INHINT                                         
022444,001384: 23,2253           04674                           TC       IBNKCALL                              
022445,001385: 23,2254           40115                           FCADR    RESTORDB                              
022446,001386: 23,2255           05353                           TC       PHASCHNG                              
022447,001387: 23,2256           04022                           OCT      04022                                 
022448,001388: 23,2257           05516                           TC       DOWNFLAG                              
022449,001389: 23,2260           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
022450,001390: 23,2261           30075        R61C+L06           CA       FLAGWRD1                              
022451,001391: 23,2262           74742                           MASK     R61FLBIT                              
022452,001392: 23,2263           10000                           CCS      A                                     
022453,001393: 23,2264           02305                           TC       R61C+L4                               
022454,001394: 23,2265           11745                           CCS      R65CNTR                               
022455,001395: 23,2266           02270                           TC       +2                                    
022456,001396: 23,2267           02305                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
022457,001397: 23,2270           55745                           TS       R65CNTR                               
022458,001398: 23,2271           32321                           CAF      06SEC                                 
022459,001399: 23,2272           05173                           TC       TWIDDLE                               
022460,001400: 23,2273           02275                           ADRES    R61C+L2                               
022461,001401: 23,2274           05155                           TC       ENDOFJOB                              
022462,001402: 23,2275           37717        R61C+L2            CAF      PRIO26                                
022463,001403: 23,2276           05105                           TC       FINDVAC                               

Page 524

022465,001405: 23,2277  E7,1456                                  EBANK=   LOSCOUNT                              
022466,001406: 23,2277           02127 46067                     2CADR    R61C+L01                              
022467,001407: 
022468,001408: 23,2301           05261                           TC       TASKOVER                              
022469,001409: 23,2302           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
022470,001410: 23,2303           54272                           CADR     BALLANGS                              
022471,001411: 23,2304           02261                           TC       R61C+L06                              
022472,001412: 23,2305           31142        R61C+L4            CAE      GENRET                                
022473,001413: 23,2306           14640                           TCF      BANKJUMP                              #  EXIT R61
022474,001414: 23,2307           32316        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
022475,001415: 23,2310           70074                           MASK     STATE                                 
022476,001416: 23,2311           00006                           EXTEND                                         
022477,001417: 23,2312           15155                           BZF      ENDOFJOB                              #  NO - EXIT ROUTINE AND PROGRAM.
022478,001418: 23,2313           02261                           TC       R61C+L06                              #  YES EXIT ROUTINE
022479,001419: 23,2314           04635        R65WAIT            TC       POSTJUMP                              
022480,001420: 23,2315           50232                           CADR     P20LEMWT                              
022481,001421: 
022482,001422: 23,2316           00500        BIT7+9PV           OCT      00500                                 
022483,001423: 23,2317           17350 34602  COS15DEG           2DEC     0.96593    B-1                        
022484,001424: 
022485,001425: 23,2321           01130        06SEC              DEC      600        B-14                       
022486,001426: 23,2322                        PHI                EQUALS   20D                                   
022487,001427: 23,2322           00004        READCDUD           INHINT                                         #  READS DESIRED CDU'S AND STORES IN
022488,001428: 23,2323           35015                           CAF      EBANK6                                #  MPAC TP EXITS WITH MODE SET TO TP
022489,001429: 23,2324           56003                           XCH      EBANK                                 
022490,001430: 23,2325           54070                           TS       RUPTREG1                              
022491,001431: 23,2326  E6,1634                                  EBANK=   CDUXD                                 
022492,001432: 23,2326           31634                           CA       CDUXD                                 
022493,001433: 23,2327           54154                           TS       MPAC                                  
022494,001434: 23,2330           00006                           EXTEND                                         
022495,001435: 23,2331           31636                           DCA      CDUYD                                 
022496,001436: 23,2332           52156                           DXCH     MPAC       +1                         
022497,001437: 23,2333           30070                           CA       RUPTREG1                              
022498,001438: 23,2334           54003                           TS       EBANK                                 
022499,001439: 23,2335           00003                           RELINT                                         
022500,001440: 23,2336           16502                           TCF      TMODE                                 
022501,001441: 
022502,001442:    4512                                           BLOCK    02                                    
022503,001443:    4000                                           SETLOC   RADARFF                               
022504,001444:    4000                                           BANK                                           
022505,001445: 
022506,001446:    4512  E7,1456                                  EBANK=   LOSCOUNT                              
022507,001447:    4512                                           COUNT*   $$/RRSUB                              
022508,001448: 

Page 525

022510,001450:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022511,001451:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1.  OTHERWISE IT RETURNS TO CALLER +3.  MAY BE CALLED IN RUPT OR UNDER EXEC.
022512,001452: 
022513,001453:    4512           00006        MAGSUB             EXTEND                                         
022514,001454:    4513           64515                           BZMF     +2                                    
022515,001455:    4514           14516                           TCF      +2                                    
022516,001456:    4515           40000                           COM                                            
022517,001457: 
022518,001458:    4516           50002                           INDEX    Q                                     
022519,001459:    4517           60000                           AD       0                                     
022520,001460:    4520           00006                           EXTEND                                         
022521,001461:    4521           66744                           BZMF     Q+2                                   #  ABS(A) <= CONST GO TO L+3
022522,001462:    4522           16742                           TCF      Q+1                                   #  ABS(A) > CONST GO TO L+2
022523,001463: 

Page 526

022525,001465:                                                                                                  #  PROGRAM NAME_ RRLIMCHK                        ARE IN THE LIMITS OF THE CURRENT MODE.
022526,001466: 
022527,001467:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022528,001468: 
022529,001469:                                                                                                  #        RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022530,001470:                                                                                                  #        THE LIMITS OF THE CURRENT MODE.  INITIALLY THE DESIRED TRUNNION AND
022531,001471:                                                                                                  #        SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2.  THE CURRENT RR
022532,001472:                                                                                                  #        ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022533,001473:                                                                                                  #        MODE 1 AND =1 FOR MODE 2.
022534,001474: 
022535,001475:                                                                                                  #        MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022536,001476:                                                                                                  #        BETWEEN -55 AND +55 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN LIMITS,
022537,001477:                                                                                                  #        THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022538,001478:                                                                                                  #        IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN TO L +3.
022539,001479: 
022540,001480:                                                                                                  #        MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022541,001481:                                                                                                  #        BETWEEN -139 AND -25 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN
022542,001482:                                                                                                  #        LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022543,001483:                                                                                                  #        AND -125 (+235) DEGREES.  IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN
022544,001484:                                                                                                  #        TO L +3.
022545,001485: 
022546,001486:                                                                                                  #  CALLING SEQUENCE:
022547,001487: 
022548,001488:                                                                                                  #        L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
022549,001489:                                                                                                  #        L  +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
022550,001490: 
022551,001491:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022552,001492: 
022553,001493:                                                                                                  #        RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022554,001494:                                                                                                  #        ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022555,001495:                                                                                                  #        CURRENT EBANK).
022556,001496: 
022557,001497:                                                                                                  #  SUBROUTINES CALLED_   MAGSUB
022558,001498: 
022559,001499:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022560,001500: 
022561,001501:                                                                                                  #  ALARMS_  NONE
022562,001502: 
022563,001503:                                                                                                  #  EXIT_         L + 2   (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022564,001504:                                                                                                  #                L + 3   (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022565,001505: 
022566,001506:    4523           00006        RRLIMCHK           EXTEND                                         
022567,001507:    4524           50002                           INDEX    Q                                     
022568,001508:    4525           50000                           INDEX    0                                     
022569,001509:    4526           30001                           DCA      0                                     
022570,001510:    4527           24002                           INCR     Q                                     
022571,001511:    4530           52062                           DXCH     ITEMP1                                
022572,001512:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
022573,001513: 
022574,001514:    4532           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
022575,001515:    4533           70110                           MASK     RADMODES                              
022576,001516:    4534           10000                           CCS      A                                     
022577,001517:    4535           14550                           TCF      MODE2CHK                              
022578,001518: 
022579,001519:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS

Page 527

022581,001521:    4537           04512                           TC       MAGSUB                                #        1. ABS(T) L 55 DEGS.
022582,001522:    4540           66161                           DEC      -.30555                               #        2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022583,001523:    4541           00001                           TC       L                                     #                (SHAFT LIMITS AT +59, -70 DEGS)
022584,001524: 
022585,001525:    4542           34562                           CAF      5.5DEGS                               
022586,001526:    4543           60062                           AD       ITEMP2                                #  S
022587,001527:    4544           04512                           TC       MAGSUB                                
022588,001528:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
022589,001529:    4546           00001                           TC       L                                     
022590,001530:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
022591,001531: 
022592,001532:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
022593,001533:    4551           60062                           AD       ITEMP2                                #        1. ABS(T) G 125 DEGS.
022594,001534:    4552           04512                           TC       MAGSUB                                #        2. ABS(S + 82 DEGS) L 57 DEGS
022595,001535:    4553           65673                           DEC      -.31667                               #                (SHAFT LIMITS AT -25, -139 DEGS)
022596,001536:    4554           00001                           TC       L                                     
022597,001537: 
022598,001538:    4555           30061                           CA       ITEMP1                                
022599,001539:    4556           04512                           TC       MAGSUB                                
022600,001540:    4557           51615                           DEC      -.69444                               #  125 DEGS
022601,001541: 
022602,001542:    4560           50001        RRLIMOK            INDEX    L                                     
022603,001543:    4561           00001                           TC       L                                     #  ( = TC 1 )
022604,001544: 
022605,001545:    4562           00765        5.5DEGS            DEC      .03056                                
022606,001546:    4563           16450        82DEGS             DEC      .45556                                
022607,001547: 

Page 528

022609,001549:                                                                                                  #  PROGRAM NAME_ SETTRKF                                                 . IF EITHER:
022610,001550: 
022611,001551:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022612,001552:                                                                                                  #        SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.              HER THE ALT OR VEL INFORMATION.
022613,001553:                                                                                                  #        INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022614,001554:                                                                                                  #        IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022615,001555:                                                                                                  #        IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022616,001556:                                                                                                  #                1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022617,001557:                                                                                                  #                   AUTO MODE (RADMODES BITS 13, 7, 2).
022618,001558:                                                                                                  #                2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022619,001559:                                                                                                  #                   8,5)
022620,001560:                                                                                                  #                3) NO RR DATA (RADMODES BIT 4)
022621,001561:                                                                                                  #        THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022622,001562:                                                                                                  #        IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022623,001563:                                                                                                  #        LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022624,001564:                                                                                                  #        THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022625,001565:                                                                                                  #        TRACKER FAIL LAMP IS TURNED ON IF_
022626,001566:                                                                                                  #                A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022627,001567:                                                                                                  #                B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022628,001568:                                                                                                  #                   EITHER THE ALT OR VEL INFORMATION
022629,001569:                                                                                                  #                C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022630,001570:                                                                                                  #                   WITH EITHER THE AL
022631,001571: 
022632,001572:                                                                                                  #  CALLING SEQUENCE:
022633,001573: 
022634,001574:                                                                                                  #        L       TC      SETTRKF
022635,001575: 
022636,001576:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:  IMODES33, RADMODES, DSPTAB +11D
022637,001577: 
022638,001578:                                                                                                  #  SUBROUTINES CALLED_  NONE
022639,001579: 
022640,001580:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022641,001581: 
022642,001582:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
022643,001583: 
022644,001584:                                                                                                  #  EXIT_  L +1 (ALWAYS)                  ED.
022645,001585: 
022646,001586:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
022647,001587:    4565           71300                           MASK     IMODES33                              
022648,001588:    4566           10000                           CCS      A                                     
022649,001589:    4567           00002                           TC       Q                                     
022650,001590: 
022651,001591:    4570           34744        RRTRKF             CA       BIT8                                  
022652,001592:    4571           54001                           TS       L                                     
022653,001593: 
022654,001594:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
022655,001595:    4573           70110                           MASK     RADMODES                              
022656,001596:    4574           00006                           EXTEND                                         
022657,001597:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
022658,001598: 
022659,001599:    4576           34750        RRCHECK            CAF      RRDATABT                              #  SEE IF RR DATA FAILED.
022660,001600:    4577           70110                           MASK     RADMODES                              

Page 529

022662,001602:    4600           10000                           CCS      A                                     
022663,001603:    4601           30001        TRKFLON            CA       L                                     
022664,001604:    4602           61035                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
022665,001605:    4603           70001                           MASK     L                                     
022666,001606:    4604           00006                           EXTEND                                         
022667,001607:    4605           16745                           BZF      TCQ                                   #  NO CHANGE.
022668,001608: 
022669,001609:    4606           31035        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
022670,001610:    4607           00006                           EXTEND                                         
022671,001611:    4610           06001                           RXOR     LCHAN                                 
022672,001612:    4611           74733                           MASK     POSMAX                                
022673,001613:    4612           64735                           AD       BIT15                                 
022674,001614:    4613           55035                           TS       DSPTAB     +11D                       
022675,001615:    4614           00002                           TC       Q                                     
022676,001616: 
022677,001617:    4615           10102        13,7,2             OCT      10102                                 
022678,001618:    4616                        ENDRMODF           EQUALS                                         
022679,001619: 

Page 530

022681,001621:                                                                                                  #  PROGRAM NAME_  RRTURNON
022682,001622: 
022683,001623:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022684,001624: 
022685,001625:                                                                                                  #        RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022686,001626:                                                                                                  #        RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022687,001627:                                                                                                  #        INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022688,001628:                                                                                                  #        ACTUAL TURN-ON SEQUENCE.  UPON RETURN THE PROGRAM
022689,001629:                                                                                                  #        WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022690,001630:                                                                                                  #        (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022691,001631:                                                                                                  #        INITIATE PROGRAM ALARM 00501.  A CHECK IS THEN MADE
022692,001632:                                                                                                  #        TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7).  IF
022693,001633:                                                                                                  #        SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022694,001634:                                                                                                  #        FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022695,001635:                                                                                                  #        RETURNING TO THE WAITING PROGRAM.  IF NOT, THE PROGRAM EXITS
022696,001636:                                                                                                  #        TO TASKOVER.
022697,001637: 
022698,001638:                                                                                                  #  CALLING SEQUENCE:  WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022699,001639:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING 
022700,001640:                                                                                                  #  THE RR (STATE BIT 7).
022701,001641: 
022702,001642:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022703,001643: 
022704,001644:                                                                                                  #        RADMODES, STATE
022705,001645: 
022706,001646:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022707,001647: 
022708,001648:                                                                                                  #  JOBS OR TASKS INITIATED_
022709,001649:                                                                                                  #        
022710,001650:                                                                                                  #        NONE
022711,001651: 
022712,001652:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
022713,001653: 
022714,001654:                                                                                                  #  EXIT_  TASKOVER, ENDRADAR (WAITING PROGRAM)
022715,001655: 
022716,001656: 24,3256                                           BANK     24                                    
022717,001657: 25,2000                                           SETLOC   P20S1                                 
022718,001658: 25,2000                                           BANK                                           
022719,001659: 
022720,001660: 25,2073  E7,1456                                  EBANK=   LOSCOUNT                              
022721,001661: 25,2073                                           COUNT*   $$/RSUB                               
022722,001662: 25,2073           02102        RRTURNON           TC       RRZEROSB                              
022723,001663: 25,2074           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022724,001664: 25,2075           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
022725,001665: 25,2076           44753                           CS       TURNONBT                              
022726,001666: 25,2077           70110                           MASK     RADMODES                              
022727,001667: 25,2100           54110                           TS       RADMODES                              
022728,001668: 25,2101           15261                           TCF      TASKOVER                              

Page 531

022730,001670:                                                                                                  #  PROGRAM NAME_  RRZEROSB
022731,001671: 
022732,001672:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022733,001673: 
022734,001674:                                                                                                  #        RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022735,001675:                                                                                                  #        DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022736,001676:                                                                                                  #        LAMP IF REQUIRED.  INITIALLY THE RR CDU ZERO BIT (CHAN 12
022737,001677:                                                                                                  #        BIT 1) IS SET.  FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022738,001678:                                                                                                  #        RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER 
022739,001679:                                                                                                  #        WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022740,001680:                                                                                                  #        REMOVED.  A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022741,001681:                                                                                                  #        TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES.  THE
022742,001682:                                                                                                  #        RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED.  THE
022743,001683:                                                                                                  #        CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022744,001684:                                                                                                  #        ANGLE IS LESS THAN 90 DEGREES.  IF NOT, BIT 12 OF
022745,001685:                                                                                                  #        RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022746,001686:                                                                                                  #        IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022747,001687:                                                                                                  #        INDICATE RR ANTENNA MODE 1.  SETTRKF IS THEN CALLED TO
022748,001688:                                                                                                  #        SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022749,001689: 
022750,001690:                                                                                                  #  CALLING SEQUENCE:  L  TC  RRZEROSB  (FROM RRTURNON AND RRZERO)
022751,001691: 
022752,001692:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022753,001693: 
022754,001694:                                                                                                  #        RADMODES (BIT 13 SET), DSPTAB +11D
022755,001695: 
022756,001696:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
022757,001697: 
022758,001698:                                                                                                  #  JOBS OR TASKS INITIATED_
022759,001699: 
022760,001700:                                                                                                  #        NONE
022761,001701: 
022762,001702:                                                                                                  #  ALARMS_  TRACKER FAIL
022763,001703: 
022764,001704:                                                                                                  #  EXIT_  L +1 (ALWAYS)
022765,001705: 
022766,001706: 25,2102           00006        RRZEROSB           EXTEND                                         
022767,001707: 25,2103           23312                           QXCH     RRRET                                 
022768,001708: 25,2104           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
022769,001709: 25,2105           00006                           EXTEND                                         #  COMING HERE.
022770,001710: 25,2106           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
022771,001711: 25,2107           05221                           TC       FIXDELAY                              
022772,001712: 25,2110           00002                           DEC      2          B-14                       
022773,001713: 
022774,001714: 25,2111           34755                           CAF      ZERO                                  
022775,001715: 25,2112           54035                           TS       CDUT                                  
022776,001716: 25,2113           54036                           TS       CDUS                                  
022777,001717: 25,2114           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
022778,001718: 25,2115           00006                           EXTEND                                         
022779,001719: 25,2116           03012                           WAND     CHAN12                                
022780,001720: 25,2117           05221                           TC       FIXDELAY                              
022781,001721: 25,2120           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
022782,001722: 
022783,001723: 25,2121           44737                           CS       RCDU0BIT                              #  REMOVE ZEROING IN PROCESS BIT.

Page 532

022785,001725: 25,2122           70110                           MASK     RADMODES                              
022786,001726: 25,2123           54110                           TS       RADMODES                              
022787,001727: 
022788,001728: 25,2124           30035                           CA       CDUT                                  
022789,001729: 25,2125           04512                           TC       MAGSUB                                
022790,001730: 25,2126           57777                           DEC      -.5                                   
022791,001731: 25,2127           12132                           TCF      +3                                    #  IF MODE 2.
022792,001732: 
022793,001733: 25,2130           34755                           CAF      ZERO                                  
022794,001734: 25,2131           12133                           TCF      +2                                    
022795,001735: 25,2132           34740                           CAF      ANTENBIT                              
022796,001736: 25,2133           56110                           XCH      RADMODES                              
022797,001737: 25,2134           77744                           MASK     -BIT12                                
022798,001738: 25,2135           26110                           ADS      RADMODES                              
022799,001739: 
022800,001740: 25,2136           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
022801,001741: 
022802,001742: 25,2137           01312                           TC       RRRET                                 #  DONE.
022803,001743: 
022804,001744: 25,2140     7744               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
022805,001745: 

Page 533

022807,001747:                                                                                                  #  PROGRAM NAME_  DORREPOS
022808,001748: 
022809,001749:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022810,001750: 
022811,001751:                                                                                                  #        DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022812,001752:                                                                                                  #        TO A SAFE POSITION.  INITIALLY SETRRECR IS CALLED WHERE THE RR
022813,001753:                                                                                                  #        ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022814,001754:                                                                                                  #        AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022815,001755:                                                                                                  #        DESIRED STATE AND PRESENT STATE OF THE COMMANDS.  THE RR
022816,001756:                                                                                                  #        TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022817,001757:                                                                                                  #        PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING.  IN EITHER
022818,001758:                                                                                                  #        CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022819,001759:                                                                                                  #        RR ANTENNA MODE (RADMODES BIT 12).  RRTONLY IS THEN CALLED
022820,001760:                                                                                                  #        TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022821,001761:                                                                                                  #        DEGREES IF IN MODE 2.  UPON RETURN, THE CURRENT RR ANTENNA
022822,001762:                                                                                                  #        MODE (RADMODES BIT 12) IS AGAIN CHECKED.  RRSONLY IS THEN
022823,001763:                                                                                                  #        CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022824,001764:                                                                                                  #        -90 DEGREES IF IN MODE 2.  IF DURING RRTONLY OR RRSONLY A
022825,001765:                                                                                                  #        REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022826,001766:                                                                                                  #        FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022827,001767:                                                                                                  #        REPOSRPT.  HERE THE REPOSITION FLAG (RADMODES BIT 11) IS 
022828,001768:                                                                                                  #        REMOVED.  A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022829,001769:                                                                                                  #        BIT 10).  IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES.  IF NOT PRESENT
022830,001770:                                                                                                  #        INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022831,001771:                                                                                                  #        COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022832,001772:                                                                                                  #        TASKOVER.
022833,001773: 
022834,001774:                                                                                                  #  CALLING SEQUENCE:
022835,001775: 
022836,001776:                                                                                                  #        WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022837,001777:                                                                                                  #        NOT WITHIN LIMITS OF CURRENT MODE.
022838,001778: 
022839,001779:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022840,001780: 
022841,001781:                                                                                                  #        RADMODES
022842,001782: 
022843,001783:                                                                                                  #  SUBROUTINES CALLED_
022844,001784: 
022845,001785:                                                                                                  #        RRTONLY, RRSONLY, BEGDES (EXIT)
022846,001786: 
022847,001787:                                                                                                  #  JOBS OR TASKS INITIATED_
022848,001788: 
022849,001789:                                                                                                  #        NONE
022850,001790: 
022851,001791:                                                                                                  #  ALARMS-  NONE
022852,001792: 
022853,001793:                                                                                                  #  EXIT_  TASKOVER, BEGDES
022854,001794: 
022855,001795: 25,2140           02167        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
022856,001796: 
022857,001797:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022858,001798: 
022859,001799: 25,2141           05221                           TC       FIXDELAY                              
022860,001800: 25,2142           00002                           DEC      2          B-14                       
022861,001801: 
022862,001802: 25,2143           34740                           CAF      ANTENBIT                              #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.

Page 534

022864,001804: 25,2144           70110                           MASK     RADMODES                              
022865,001805: 25,2145           10000                           CCS      A                                     
022866,001806: 25,2146           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
022867,001807: 25,2147           02252                           TC       RRTONLY                               
022868,001808: 
022869,001809: 25,2150           34740                           CAF      ANTENBIT                              #  NOW PUT SHAFT IN RIGHT POSITION
022870,001810: 25,2151           70110                           MASK     RADMODES                              
022871,001811: 25,2152           10000                           CCS      A                                     
022872,001812: 25,2153           44736                           CS       HALF                                  #  -90 FOR MODE 2.
022873,001813: 25,2154           02255                           TC       RRSONLY                               
022874,001814: 
022875,001815: 25,2155           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
022876,001816:                                                                                                  #  REQUESTED DURING REPOSITION.
022877,001817: 25,2156           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
022878,001818: 25,2157           54110                           TS       RADMODES                              
022879,001819: 25,2160           74742                           MASK     DESIGBIT                              #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
022880,001820: 25,2161           10000                           CCS      A                                     
022881,001821: 25,2162           12604                           TCF      BEGDES                                
022882,001822: 25,2163           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
022883,001823: 25,2164           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
022884,001824: 25,2165           03012                           WAND     CHAN12                                
022885,001825: 25,2166           15261                           TCF      TASKOVER                              
022886,001826: 
022887,001827: 25,2167           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
022888,001828: 25,2170           00006                           EXTEND                                         
022889,001829: 25,2171           02012                           RAND     CHAN12                                
022890,001830: 25,2172           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
022891,001831: 25,2173           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
022892,001832: 
022893,001833: 25,2174           54112                           TS       LASTYCMD                              
022894,001834: 25,2175           54113                           TS       LASTXCMD                              
022895,001835: 25,2176           34752                           CAF      BIT2                                  
022896,001836: 25,2177           00006                           EXTEND                                         
022897,001837: 25,2200           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
022898,001838: 25,2201           00002                           TC       Q                                     

Page 535

022900,001840:                                                                                                  #  PROGRAM NAME_  REMODE                                                 IVES SHAFT TO -45, AND FINALLY DRIVES
022901,001841: 
022902,001842:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                               S DONE WITH SINGLE AXIS ROTATIONS (SEE
022903,001843:                                                                                                  #        REMODE IS THE GENERAL REMODING SUBROUTINE.  IT DRIVES THE
022904,001844:                                                                                                  #        TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022905,001845:                                                                                                  #        180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022906,001846:                                                                                                  #        DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022907,001847:                                                                                                  #        TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022908,001848:                                                                                                  #        INITIATING 2-AXIS CONTROL.  ALL REMODING IS DONE WITH SINGLE
022909,001849:                                                                                                  #        AXIS ROTATIONS (RR1AXIS).  INITIALLY THE RR ANTENNA MODE FLAG
022910,001850:                                                                                                  #        (RADMODES BIT 12) IS CHECKED.  CONTROL IS THEN TRANSFERRED TO
022911,001851:                                                                                                  #        RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022912,001852:                                                                                                  #        OR 180 DEGREES IF IN MODE 2.  RRSONLY IS THEN CALLED TO DRIVE
022913,001853:                                                                                                  #        THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022914,001854:                                                                                                  #        (RADMODES BIT 12) IS CHECKED AGAIN.  CONTROL IS AGAIN
022915,001855:                                                                                                  #        TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022916,001856:                                                                                                  #        DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022917,001857:                                                                                                  #        -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1.  RMODINV
022918,001858:                                                                                                  #        IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022919,001859:                                                                                                  #        RR ANTENNA MODE.  THE REMODE FLAG (RADMODES BIT 14)
022920,001860:                                                                                                  #        IS REMOVED TO INDICATE THAT REMODING IS COMPLETE.  THE PROGRAM
022921,001861:                                                                                                  #        THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022922,001862: 
022923,001863:                                                                                                  #  CALLING SEQUENCE:
022924,001864: 
022925,001865:                                                                                                  #        FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022926,001866:                                                                                                  #        THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022927,001867:                                                                                                  #        DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022928,001868:                                                                                                  #        OTHER MODE.
022929,001869: 
022930,001870:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022931,001871: 
022932,001872:                                                                                                  #        RADMODES
022933,001873: 
022934,001874:                                                                                                  #  SUBROUTINES CALLED_
022935,001875: 
022936,001876:                                                                                                  #        RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022937,001877: 
022938,001878:                                                                                                  #  JOBS OR TASKS INITIATED_
022939,001879: 
022940,001880:                                                                                                  #        NONE
022941,001881: 
022942,001882:                                                                                                  #  ALARMS_  NONE
022943,001883: 
022944,001884:                                                                                                  #  EXIT_  STDESIG
022945,001885: 
022946,001886: 25,2202           34740        REMODE             CAF      ANTENBIT                              #  DRIVE TRUNNION TO 0 (180)
022947,001887: 25,2203           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
022948,001888: 25,2204           10000                           CCS      A                                     
022949,001889: 25,2205           34735                           CAF      BIT15                                 
022950,001890: 25,2206           02252                           TC       RRTONLY                               
022951,001891: 
022952,001892: 25,2207           37743                           CAF      -45DEGSR                              
022953,001893: 25,2210           02255                           TC       RRSONLY                               

Page 536

022955,001895: 25,2211           40110                           CS       RADMODES                              
022956,001896: 25,2212           74740                           MASK     ANTENBIT                              
022957,001897: 25,2213           10000                           CCS      A                                     
022958,001898: 25,2214           32243                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
022959,001899: 25,2215           62242                           AD       -50DEGSR                              
022960,001900: 25,2216           02252                           TC       RRTONLY                               
022961,001901: 
022962,001902: 25,2217           40110                           CS       RADMODES                              
022963,001903: 25,2220           74740                           MASK     ANTENBIT                              
022964,001904: 25,2221           10000                           CCS      A                                     
022965,001905: 25,2222           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
022966,001906: 25,2223           02252                           TC       RRTONLY                               
022967,001907: 
022968,001908: 25,2224           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
022969,001909: 25,2225           74740                           MASK     ANTENBIT                              
022970,001910: 25,2226           10000                           CCS      A                                     
022971,001911: 25,2227           44736                           CS       HALF                                  
022972,001912: 25,2230           02255                           TC       RRSONLY                               
022973,001913: 
022974,001914: 25,2231           02244                           TC       RMODINV                               
022975,001915: 25,2232           44736                           CS       REMODBIT                              #  END OF REMODE.
022976,001916: 25,2233           70110                           MASK     RADMODES                              
022977,001917: 25,2234           54110                           TS       RADMODES                              
022978,001918: 
022979,001919: 25,2235           34742                           CAF      DESIGBIT                              #  WAS REMODE CALLED DURING DESIGNATE?
022980,001920: 25,2236           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
022981,001921: 25,2237           00006                           EXTEND                                         
022982,001922: 25,2240           13560                           BZF      RGOODEND                              #  NO - RETURN TO CALLER WAITING IN RADSTALL
022983,001923: 25,2241           02613                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
022984,001924: 25,2242     7743               -45DEGSR           =        13,14,15                              
022985,001925: 25,2242           67070        -50DEGSR           DEC      -.27778                               
022986,001926: 25,2243           61615        -80DEGSR           DEC      -.44444                               
022987,001927: 
022988,001928: 25,2244           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
022989,001929: 25,2245           34740                           CAF      ANTENBIT                              
022990,001930: 25,2246           00006                           EXTEND                                         
022991,001931: 25,2247           06001                           RXOR     LCHAN                                 
022992,001932: 25,2250           54110                           TS       RADMODES                              
022993,001933: 25,2251           00002                           TC       Q                                     
022994,001934: 

Page 537

022996,001936:                                                                                                  #  PROGRAM NAMES_        RRTONLY, RRSONLY
022997,001937: 
022998,001938:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022999,001939: 
023000,001940:                                                                                                  #        RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023001,001941:                                                                                                  #        RRMANEUVERS FOR REMODE AND REPOSITION.  IT DRIVES TO
023002,001942:                                                                                                  #        WITHIN 1 DEGREE.  INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023003,001943:                                                                                                  #        FLAGS (RADMODES BITS 14, 11) ARE CHECKED.  IF BOTH EXIST,
023004,001944:                                                                                                  #        THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS).  THIS INDICATES
023005,001945:                                                                                                  #        THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023006,001946:                                                                                                  #        WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023007,001947:                                                                                                  #        REPOSITION IS IN PROGRESS (RADMODES BIT 11).  IF NONE
023008,001948:                                                                                                  #        OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023009,001949:                                                                                                  #        IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE.  IF YES,
023010,001950:                                                                                                  #        CONTROL RETURNS TO THE CALLING ROUTINE.  IF NOT, CONTROL IS
023011,001951:                                                                                                  #        TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023012,001952:                                                                                                  #        ANGLE SET = 0.  FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023013,001953:                                                                                                  #        REPEATED.
023014,001954: 
023015,001955:                                                                                                  #  CALLING SEQUENCE:     L-1     CAF     *ANGLE*         (DESIRED ANGLE SCALED PI)
023016,001956:                                                                                                  #                        L       TC      RRTONLY         (TRUNNION ONLY)
023017,001957:                                                                                                  #                        RRSONLY                         (SHAFT ONLY)
023018,001958:                                                                                                  #                        RRTONLY IS CALLED BY PREPOS29;
023019,001959:                                                                                                  #                        RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023020,001960: 
023021,001961:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023022,001962: 
023023,001963:                                                                                                  #        C(A) = DESIRED ANGLE, RADMODES
023024,001964: 
023025,001965:                                                                                                  #  SUBROUTINES CALLED_
023026,001966: 
023027,001967:                                                                                                  #        FIXDELAY, REPOSRPT, MAGSUB, RROUT
023028,001968: 
023029,001969:                                                                                                  #  JOBS OR TASKS INITIATED_
023030,001970: 
023031,001971:                                                                                                  #        NONE
023032,001972: 
023033,001973:                                                                                                  #  ALARMS_  NONE
023034,001974: 
023035,001975:                                                                                                  #  EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023036,001976:                                                                                                  #        BITS 14, 11)
023037,001977:                                                                                                  #        L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023038,001978: 
023039,001979: 25,2252           55313        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
023040,001980: 25,2253           34755                           CAF      ZERO                                  
023041,001981: 25,2254           12257                           TCF      RR1AXIS                               
023042,001982: 
023043,001983: 25,2255           55313        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023044,001984: 25,2256           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023045,001985: 
023046,001986: 25,2257           55314        RR1AXIS            TS       RRINDEX                               
023047,001987: 25,2260           00006                           EXTEND                                         
023048,001988: 25,2261           23312                           QXCH     RRRET                                 
023049,001989: 25,2262           12265                           TCF      RR1AX2                                
023050,001990: 

Page 538

023052,001992: 25,2263           05221        NXTRR1AX           TC       FIXDELAY                              
023053,001993: 25,2264           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
023054,001994: 
023055,001995: 25,2265           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
023056,001996: 25,2266           77713                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
023057,001997: 25,2267           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
023058,001998: 25,2270           12155                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
023059,001999: 
023060,002000: 25,2271           31313                           CA       RDES                                  
023061,002001: 25,2272           00006                           EXTEND                                         
023062,002002: 25,2273           51314                           INDEX    RRINDEX                               
023063,002003: 25,2274           20035                           MSU      CDUT                                  
023064,002004: 25,2275           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
023065,002005: 25,2276           00006                           EXTEND                                         
023066,002006: 25,2277           72316                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
023067,002007: 25,2300           54001                           TS       L                                     
023068,002008: 25,2301           30110                           CA       RADMODES                              
023069,002009: 25,2302           74752                           MASK     AUTOMBIT                              
023070,002010: 25,2303           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
023071,002011: 25,2304           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
023072,002012: 25,2305           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
023073,002013: 
023074,002014: 25,2306           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
023075,002015: 25,2307           01312                           TC       RRRET                                 #  RETURN TO CALLER.
023076,002016: 
023077,002017: 25,2310           11314                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
023078,002018: 25,2311           12313                           TCF      +2                                    #  SETTING A TO 0.
023079,002019: 25,2312           56001                           XCH      L                                     
023080,002020: 25,2313           53355                           DXCH     TRUNNCMD                              
023081,002021: 25,2314           02317                           TC       RROUT                                 
023082,002022: 
023083,002023: 25,2315           12263                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
023084,002024: 
023085,002025: 25,2316           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
023086,002026: 

Page 539

023088,002028:                                                                                                  #  PROGRAM NAME_  RROUT                                          RROR COUNTER SCALING. RROUT LIMITS THEM
023089,002029: 
023090,002030:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023091,002031: 
023092,002032:                                                                                                  #        RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023093,002033:                                                                                                  #        ERROR COUNTER SCALING.  RROUT THEN LIMITS THEM AND
023094,002034:                                                                                                  #        GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023095,002035:                                                                                                  #        TO THE DESIRED VALUES.  INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023096,002036:                                                                                                  #        THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023097,002037:                                                                                                  #        384 PULSES.  IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023098,002038:                                                                                                  #        LIMIT THE COMMAND TO +384 OR -384 PULSES.  THE DIFFERENCE IS
023099,002039:                                                                                                  #        THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023100,002040:                                                                                                  #        THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023101,002041:                                                                                                  #        THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023102,002042:                                                                                                  #        PASS).  FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023103,002043:                                                                                                  #        OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023104,002044:                                                                                                  #        ARE SET.  THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023105,002045: 
023106,002046:                                                                                                  #  CALLING SEQUENCE:
023107,002047:                                                                                                  #        
023108,002048:                                                                                                  #        L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023109,002049:                                                                                                  #        RRTONLY, RRSONLY, AND DODES
023110,002050: 
023111,002051:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023112,002052: 
023113,002053:                                                                                                  #        TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023114,002054:                                                                                                  #        (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023115,002055: 
023116,002056:                                                                                                  #  SUBROUTINES CALLED_
023117,002057: 
023118,002058:                                                                                                  #        MAGSUB
023119,002059: 
023120,002060:                                                                                                  #  JOBS OR TASKS INITIATED_
023121,002061: 
023122,002062:                                                                                                  #        NONE
023123,002063: 
023124,002064:                                                                                                  #  ALARMS_  NONE
023125,002065: 
023126,002066:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                           SIRED VALUES. RUPT MUST BE INHIBITED.
023127,002067: 
023128,002068: 25,2317           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
023129,002069: 25,2320           34753                           CAF      ONE                                   #  LOOP TWICE.
023130,002070: 25,2321           54062        RROUT2             TS       ITEMP2                                
023131,002071: 25,2322           50000                           INDEX    A                                     
023132,002072: 25,2323           31354                           CA       TRUNNCMD                              
023133,002073: 25,2324           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
023134,002074: 
023135,002075: 25,2325           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
023136,002076: 25,2326           77177        -RRLIMIT           DEC      -384       B-14                       
023137,002077: 25,2327           12346                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
023138,002078: 
023139,002079: 25,2330           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
023140,002080: 25,2331           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
023141,002081: 25,2332           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
023142,002082: 25,2333           40000                           COM                                            

Page 540

023144,002084: 25,2334           60061                           AD       ITEMP1                                
023145,002085: 25,2335           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
023146,002086: 25,2336           50062                           INDEX    ITEMP2                                
023147,002087: 25,2337           54053                           TS       CDUTCMD                               
023148,002088: 
023149,002089: 25,2340           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
023150,002090: 25,2341           12321                           TCF      RROUT2                                
023151,002091: 
023152,002092: 25,2342           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
023153,002093: 25,2343           00006                           EXTEND                                         
023154,002094: 25,2344           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
023155,002095: 25,2345           00001                           TC       L                                     #  RETURN.
023156,002096: 
023157,002097: 25,2346           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
023158,002098: 25,2347           42326                           CS       -RRLIMIT                              
023159,002099: 25,2350           12352                           TCF      +2                                    
023160,002100: 25,2351           32326                           CA       -RRLIMIT                              
023161,002101: 25,2352           54061                           TS       ITEMP1                                
023162,002102: 25,2353           12331                           TCF      SETRRCTR   +1                         
023163,002103: 

Page 541

023165,002105:                                                                                                  #  ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023166,002106: 
023167,002107: 25,2354           32403        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
023168,002108: 25,2355           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
023169,002109: 25,2356           10000                           CCS      A                                     
023170,002110: 25,2357           13513                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
023171,002111: 
023172,002112: 25,2360           00004                           INHINT                                         
023173,002113: 25,2361           44737                           CS       RCDU0BIT                              #  SET FLAG TO SHOW ZEROING IN PROGRESS.
023174,002114: 25,2362           70110                           MASK     RADMODES                              
023175,002115: 25,2363           64737                           AD       RCDU0BIT                              
023176,002116: 25,2364           54110                           TS       RADMODES                              
023177,002117: 
023178,002118: 25,2365           34753                           CAF      ONE                                   
023179,002119: 25,2366           05203                           TC       WAITLIST                              
023180,002120: 25,2367  E7,1456                                  EBANK=   LOSCOUNT                              
023181,002121: 25,2367           02401 52067                     2CADR    RRZ2                                  
023182,002122: 
023183,002123: 25,2371           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
023184,002124: 25,2372           74752                           MASK     AUTOMBIT                              
023185,002125: 25,2373           10000                           CCS      A                                     
023186,002126: 25,2374           12377                           TCF      ROADBACK                              
023187,002127: 25,2375           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
023188,002128: 25,2376           00510                           OCT      510                                   
023189,002129: 25,2377           00003        ROADBACK           RELINT                                         
023190,002130: 25,2400           14631                           TCF      SWRETURN                              
023191,002131: 
023192,002132: 25,2401           02102        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
023193,002133: 25,2402           13551                           TCF      ENDRADAR                              
023194,002134: 
023195,002135: 25,2403           02001        BIT11+1            OCT      02001                                 
023196,002136: 

Page 542

023198,002138:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                R (HALF-UNIT) IN RRTARGET. REMODES IF
023199,002139: 
023200,002140:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023201,002141: 
023202,002142:                                                                                                  #        THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023203,002143:                                                                                                  #        WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023204,002144:                                                                                                  #        (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023205,002145:                                                                                                  #        ORIENTATION.  INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023206,002146:                                                                                                  #        TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023207,002147:                                                                                                  #        MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023208,002148:                                                                                                  #        RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023209,002149:                                                                                                  #        TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023210,002150:                                                                                                  #        RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023211,002151:                                                                                                  #        PRESENT MODE ARE WITHIN LIMITS.  IF WITHIN LIMITS, THE RETURN
023212,002152:                                                                                                  #        LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023213,002153:                                                                                                  #        REQUIRED, BEFORE EXITING TO STARTDES.  IF NOT WITHIN LIMITS OF THE
023214,002154:                                                                                                  #        CURRENT MODE, TRYSWS IS CALLED.  FOLLOWING INVERTING OF THE RR
023215,002155:                                                                                                  #        ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023216,002156:                                                                                                  #        TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023217,002157:                                                                                                  #        LIMITS.  IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023218,002158:                                                                                                  #        THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023219,002159:                                                                                                  #        INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023220,002160:                                                                                                  #        EXITING TO STARTDES.  IF THESE ANGLES ARE NOT WITHIN LIMITS
023221,002161:                                                                                                  #        OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023222,002162:                                                                                                  #        BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023223,002163:                                                                                                  #        TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023224,002164: 
023225,002165:                                                                                                  #  CALLING SEQUENCE:
023226,002166: 
023227,002167:                                                                                                  #        L       STCALL  RRTARGET        (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023228,002168:                                                                                                  #        L+1     RRDESSM
023229,002169:                                                                                                  #        L+2     BASIC                   (VEHICLE MANEUVER REQUIRED)
023230,002170:                                                                                                  #        L+3     BASIC                   (NO VEHICLE MANEUVER REQUIRED)
023231,002171: 
023232,002172:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023233,002173: 
023234,002174:                                                                                                  #        RRTARGET, RADMODES
023235,002175: 
023236,002176:                                                                                                  #  SUBROUTINES CALLED_
023237,002177: 
023238,002178:                                                                                                  #        READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023239,002179:                                                                                                  #        PART OF), RMODINV
023240,002180: 
023241,002181:                                                                                                  #  JOBS OR TASKS INITIATED_
023242,002182: 
023243,002183:                                                                                                  #        NONE
023244,002184: 
023245,002185:                                                                                                  #  ALARMS_  NONE
023246,002186: 
023247,002187:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023248,002188:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023249,002189:                                                                                                  #  TO L+3 FROM STARTDES)                                                 CAN BE DONE IN PRESENT VEH ATTITUDE.
023250,002190: 
023251,002191: 25,2404           43020        RRDESSM            STQ      CLEAR                                 
023252,002192: 25,2405           01112                                    DESRET                                

Page 543

023254,002194: 25,2406           00271                                    RRNBSW                                
023255,002195: 25,2407           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
023256,002196: 25,2410           47541                                    CDUTRIG                               
023257,002197: 25,2411           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
023258,002198: 25,2412           01101                                    RRTARGET                              
023259,002199: 25,2413           47673                                    *SMNB*                                
023260,002200: 
023261,002201: 25,2414           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
023262,002202: 25,2415           26133                                    RRANGLES                              #  ALTERNATE MODE.
023263,002203: 25,2416           77776                           EXIT                                           
023264,002204: 
023265,002205: 25,2417           00004                           INHINT                                         
023266,002206: 25,2420           04523                           TC       RRLIMCHK                              
023267,002207: 25,2421           01106                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
023268,002208: 25,2422           02425                           TC       +3                                    #  NOT IN CURRENT MODE
023269,002209: 25,2423           25112        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023270,002210: 25,2424           02443                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
023271,002211: 25,2425           40104                           CS       FLAGWRD8                              
023272,002212: 25,2426           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023273,002213: 25,2427           00006                           EXTEND                                         
023274,002214: 25,2430           12467                           BZF      NORDSTAL                              #  BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023275,002215: 25,2431           02472                           TC       TRYSWS                                
023276,002216: 
023277,002217: 25,2432           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
023278,002218: 25,2433           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
023279,002219: 25,2434           00006                           EXTEND                                         
023280,002220: 25,2435           12467                           BZF      NORDSTAL                              #  BRANCH - YES - RETURN TO CALLER - ALARM 527
023281,002221: 25,2436           30074                           CA       STATE                                 
023282,002222: 25,2437           74745                           MASK     RNDVZBIT                              
023283,002223: 25,2440           10000                           CCS      A                                     #  TEST RNDVZFLG.
023284,002224: 25,2441           02502                           TC       NODESSM                               #  NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023285,002225: 25,2442           15155                           TCF      ENDOFJOB                              #  ... BUT NOT IN R29.
023286,002226: 

Page 544

023288,002228:                                                                                                  #  PROGRAM NAME_  STARTDES                                                       STORED AS A HALF-UNIT VECTOR IN RRTARGET
023289,002229: 
023290,002230:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       CKON IS DESIRED. BIT14 OF RADMODES IS
023291,002231:                                                                                                  #        STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
023292,002232:                                                                                                  #        BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
023293,002233:                                                                                                  #        AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
023294,002234:                                                                                                  #        OPERATION.  IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023295,002235:                                                                                                  #        ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023296,002236:                                                                                                  #        OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023297,002237:                                                                                                  #        DESIGNATION BEGINS.  INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023298,002238:                                                                                                  #        THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023299,002239:                                                                                                  #        (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5).  BIT 10
023300,002240:                                                                                                  #        OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023301,002241:                                                                                                  #        THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF SET,
023302,002242:                                                                                                  #        THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023303,002243:                                                                                                  #        AND RRDESNB).  THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023304,002244:                                                                                                  #        ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023305,002245:                                                                                                  #        REQUESTED.  IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023306,002246:                                                                                                  #        WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023307,002247:                                                                                                  #        AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023308,002248:                                                                                                  #        DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023309,002249:                                                                                                  #        COUNTERS.  A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023310,002250:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023311,002251: 
023312,002252:                                                                                                  #  CALLING SEQUENCE:
023313,002253: 
023314,002254:                                                                                                  #        FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023315,002255: 
023316,002256:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023317,002257: 
023318,002258:                                                                                                  #        RADMODES, (SEE DODES)
023319,002259: 
023320,002260:                                                                                                  #  SUBROUTINES CALLED_
023321,002261: 
023322,002262:                                                                                                  #        SETRRECR, WAITLIST
023323,002263: 
023324,002264:                                                                                                  #  JOBS OR TASKS INITIATED_
023325,002265: 
023326,002266:                                                                                                  #        BEGDES
023327,002267: 
023328,002268:                                                                                                  #  ALARMS_  NONE
023329,002269: 
023330,002270:                                                                                                  #  EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023331,002271:                                                                                                  #        L+2 OF CALLING PROGRAM (SEE RRDESNB)
023332,002272: 
023333,002273: 25,2443           25112        STARTDES           INCR     DESRET                                
023334,002274: 25,2444           40110                           CS       RADMODES                              
023335,002275: 25,2445           74742                           MASK     DESIGBIT                              
023336,002276: 25,2446           26110                           ADS      RADMODES                              
023337,002277: 25,2447           74741                           MASK     REPOSBIT                              #  SEE IF REPOSITIONING IN PROGRESS.
023338,002278: 25,2450           10000                           CCS      A                                     
023339,002279: 25,2451           12457                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
023340,002280: 
023341,002281: 25,2452           02167                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.

Page 545

023343,002283: 25,2453           34752                           CAF      TWO                                   
023344,002284: 25,2454           05203                           TC       WAITLIST                              
023345,002285: 25,2455  E7,1456                                  EBANK=   LOSCOUNT                              
023346,002286: 25,2455           02604 52067                     2CADR    BEGDES                                
023347,002287: 
023348,002288: 25,2457           31303        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
023349,002289: 25,2460           00006                           EXTEND                                         
023350,002290: 25,2461           12463                           BZF      DESRTRN                               #  YES   SET EXIT
023351,002291: 25,2462           05155                           TC       ENDOFJOB                              #  NO
023352,002292: 25,2463           00003        DESRTRN            RELINT                                         
023353,002293: 25,2464           25112                           INCR     DESRET                                
023354,002294: 25,2465           31112                           CA       DESRET                                
023355,002295: 25,2466           14640                           TCF      BANKJUMP                              
023356,002296: 
023357,002297: 25,2467           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE OUT ANYONE
023358,002298: 25,2470           55303                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
023359,002299: 25,2471           12463                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
023360,002300: 

Page 546

023362,002302:                                                                                                  #  SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023363,002303: 
023364,002304: 25,2472           02244        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
023365,002305: 25,2473           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
023366,002306: 25,2474           01110                           ADRES    MODEB                                 
023367,002307: 25,2475           12502                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
023368,002308: 
023369,002309: 25,2476           02244                           TC       RMODINV                               #  RESET BIT12
023370,002310: 25,2477           34736                           CAF      REMODBIT                              #  SET FLAG FOR REMODE.
023371,002311: 25,2500           26110                           ADS      RADMODES                              
023372,002312: 
023373,002313: 25,2501           12423                           TCF      OKDESSM                               
023374,002314: 
023375,002315: 25,2502           02244        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
023376,002316: 25,2503           25112                           INCR     DESRET                                #  TO CALLER +2
023377,002317: 25,2504           12467                           TCF      NORDSTAL                              
023378,002318: 
023379,002319: 25,2505           00074        MAXTRYS            DEC      60         B-14                       
023380,002320: 

Page 547

023382,002322:                                                                                                  #  DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION).  ENTER WITH DESIRED ANGLES IN
023383,002323:                                                                                                  #  TANG AND TANG +1.
023384,002324: 
023385,002325: 25,2506           04645        RRDESNB            TC       MAKECADR                              
023386,002326: 25,2507           55112                           TS       DESRET                                
023387,002327: 
023388,002328: 25,2510           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
023389,002329: 25,2511           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
023390,002330: 25,2512           32505                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
023391,002331: 25,2513           55113                           TS       DESCOUNT                              #  FOR DESIGNATE
023392,002332: 25,2514           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
023393,002333: 25,2515           02551                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023394,002334: 25,2516           01106                           ADRES    TANG                                  
023395,002335: 25,2517           12534                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
023396,002336: 
023397,002337: 25,2520           00003        OKDESNB            RELINT                                         
023398,002338: 25,2521           00006                           EXTEND                                         
023399,002339: 25,2522           31107                           DCA      TANG                                  
023400,002340: 25,2523           53753                           DXCH     TANGNB                                
023401,002341: 25,2524           06042                           TC       INTPRET                               
023402,002342: 
023403,002343: 25,2525           77624                           CALL                                           #  GET LOS IN NB COORDS.
023404,002344: 25,2526           46041                                    RRNB                                  
023405,002345: 25,2527           01101                           STORE    RRTARGET                              
023406,002346: 
023407,002347: 25,2530           77414                           SET      EXIT                                  
023408,002348: 25,2531           00071                                    RRNBSW                                
023409,002349: 
023410,002350: 25,2532           00004                           INHINT                                         
023411,002351: 25,2533           12444                           TCF      STARTDES   +1                         
023412,002352: 25,2534           02244        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
023413,002353: 25,2535           02551                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023414,002354: 25,2536           01106                           ADRES    TANG                                  
023415,002355: 25,2537           12544                           TCF      NODESNB                               #  NOT POSSIBLE.
023416,002356: 
023417,002357: 25,2540           02244                           TC       RMODINV                               
023418,002358: 25,2541           34736                           CAF      REMODBIT                              #  CALL FOR REMODE.
023419,002359: 25,2542           26110                           ADS      RADMODES                              
023420,002360: 25,2543           12520                           TCF      OKDESNB                               
023421,002361: 
023422,002362: 25,2544           02244        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
023423,002363: 25,2545           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
023424,002364: 25,2546           00502                           OCT      502                                   
023425,002365: 25,2547           06011                           TC       CLRADMOD                              
023426,002366: 25,2550           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
023427,002367: 
023428,002368: 25,2551           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023429,002369: 25,2552           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
023430,002370: 25,2553           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
023431,002371: 25,2554           00006                           EXTEND                                         

Page 548

023433,002373: 25,2555           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
023434,002374: 25,2556           30001                           DCA      0                                     
023435,002375: 25,2557           52062                           DXCH     ITEMP1                                
023436,002376: 25,2560           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
023437,002377: 
023438,002378: 25,2561           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
023439,002379: 25,2562           70110                           MASK     RADMODES                              
023440,002380: 25,2563           10000                           CCS      A                                     
023441,002381: 25,2564           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
023442,002382: 25,2565           30061                           CA       ITEMP1                                
023443,002383: 25,2566           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
023444,002384: 25,2567           66161                           DEC      -.30555                               #  1.    ABS(T) L 55 DEGS
023445,002385: 25,2570           00001                           TC       L                                     #  2     SHAFT LIMITS AT +59, -85 DEGS
023446,002386: 
023447,002387: 25,2571           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
023448,002388: 25,2572           00006                           EXTEND                                         
023449,002389: 25,2573           62601                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023450,002390: 25,2574           64562                           AD       5.5DEGS                               
023451,002391: 25,2575           04512        SHAFTLIM           TC       MAGSUB                                
023452,002392: 25,2576           64420                           DEC      -.35833                               #  64.5 DEGREES
023453,002393: 25,2577           00001                           TC       L                                     #  NOT IN LIMITS
023454,002394: 25,2600           04560                           TC       RRLIMOK                               #  IN LIMITS
023455,002395: 25,2601           62603        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023456,002396: 25,2602           12575                           TCF      SHAFTLIM                              
023457,002397: 
023458,002398: 25,2603           03512        20.5DEGS           DEC      .11389                                
023459,002399: 

Page 549

023461,002401:                                                                                                  #  PROGRAM NAME_  BEGDES
023462,002402: 
023463,002403:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023464,002404:                                                                                                  #        BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023465,002405:                                                                                                  #        ACTUAL RR DESIGNATION.  INITIALLY A CHECK IS MADE TO SEE IF A
023466,002406:                                                                                                  #        REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS.  IF SO,
023467,002407:                                                                                                  #        CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023468,002408:                                                                                                  #        EXECUTED.  IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023469,002409:                                                                                                  #        FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF
023470,002410:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023471,002411:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO RDBADEND.  IF THE REPOSITION
023472,002412:                                                                                                  #        FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023473,002413:                                                                                                  #        BIT 15) IS CHECKED.  IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023474,002414:                                                                                                  #        MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023475,002415:                                                                                                  #        REPEATING AT STDESIG.  IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023476,002416:                                                                                                  #        TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023477,002417:                                                                                                  #        IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023478,002418:                                                                                                  #        BIT 10) IS CHECKED.  IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023479,002419:                                                                                                  #        CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM.  IF DESIGNATE
023480,002420:                                                                                                  #        IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023481,002421:                                                                                                  #        EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023482,002422:                                                                                                  #        SIGNAL.  IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023483,002423:                                                                                                  #        RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023484,002424:                                                                                                  #        (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023485,002425:                                                                                                  #        (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND.  IF
023486,002426:                                                                                                  #        TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023487,002427:                                                                                                  #        EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023488,002428:                                                                                                  #        BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023489,002429: 
023490,002430:                                                                                                  #  CALLING SEQUENCE:
023491,002431: 
023492,002432:                                                                                                  #        WAITLIST CALL FROM STARTDES
023493,002433:                                                                                                  #        TCF BEGDES FROM DORREPOS
023494,002434:                                                                                                  #        TC STDESIG RETURNING, FROM REMODE
023495,002435: 
023496,002436:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023497,002437:                                                                                                  #        DESCOUNT, RADMODES
023498,002438: 
023499,002439:                                                                                                  #  SUBROUTINES CALLED_
023500,002440:                                                                                                  #        ENDRADAR, FINDVAC
023501,002441: 
023502,002442:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
023503,002443: 
023504,002444:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023505,002445:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023506,002446: 
023507,002447:                                                                                                  #  EXIT_         TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023508,002448:                                                                                                  #                ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023509,002449:                                                                                                  #                RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023510,002450: 
023511,002451: 25,2604           40110        BEGDES             CS       RADMODES                              

Page 550

023513,002453: 25,2605           74736                           MASK     REMODBIT                              
023514,002454: 25,2606           10000                           CCS      A                                     
023515,002455: 25,2607           02613                           TC       STDESIG                               
023516,002456: 25,2610           02202                           TC       REMODE                                
023517,002457: 25,2611           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
023518,002458: 25,2612           00062                           DEC      50         B-14                       
023519,002459: 
023520,002460: 25,2613           34741        STDESIG            CAF      REPOSBIT                              
023521,002461: 25,2614           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023522,002462: 25,2615           10000                           CCS      A                                     #  OUT OF BOUNDS.  IF SO, THIS BIT SHOWS A
023523,002463: 25,2616           12634                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
023524,002464: 
023525,002465: 25,2617           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
023526,002466: 25,2620           12623                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
023527,002467: 25,2621           12623                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023528,002468: 25,2622           12640                           TCF      MOREDES    +1                         
023529,002469: 
023530,002470: 25,2623           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
023531,002471: 25,2624           74742                           MASK     DESIGBIT                              #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023532,002472: 25,2625           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT).  IF SO, EXIT AFTER
023533,002473: 25,2626           13551                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
023534,002474: 
023535,002475: 25,2627           11113        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
023536,002476: 25,2630           12637                           TCF      MOREDES                               
023537,002477: 
023538,002478: 25,2631           42645                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023539,002479: 25,2632           00006                           EXTEND                                         
023540,002480: 25,2633           03012                           WAND     CHAN12                                
023541,002481: 25,2634           05516        BADDES             TC       DOWNFLAG                              
023542,002482: 25,2635           00271                           ADRES    DESIGFLG                              
023543,002483: 25,2636           13565                           TCF      RDBADEND                              
023544,002484: 
023545,002485: 25,2637           55113        MOREDES            TS       DESCOUNT                              
023546,002486: 25,2640           37717                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
023547,002487: 25,2641           05105                           TC       FINDVAC                               
023548,002488: 25,2642  E7,1456                                  EBANK=   LOSCOUNT                              
023549,002489: 25,2642           02646 52067                     2CADR    DODES                                 
023550,002490: 
023551,002491: 25,2644           12611                           TCF      DESLOOP                               
023552,002492: 
023553,002493: 25,2645           20002        B14+B2             OCT      20002                                 
023554,002494: 

Page 551

023556,002496:                                                                                                  #  PROGRAM NAME_  DODES
023557,002497: 
023558,002498:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023559,002499: 
023560,002500:                                                                                                  #        DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023561,002501:                                                                                                  #        COMMANDS.  INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023562,002502:                                                                                                  #        THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023563,002503:                                                                                                  #        NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY.  THE
023564,002504:                                                                                                  #        SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023565,002505:                                                                                                  #                + SHAFT = LOS . (COS(S), 0, -SIN(S))  (DOT PRODUCT)
023566,002506:                                                                                                  #                - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023567,002507:                                                                                                  #        THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023568,002508:                                                                                                  #        (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE 
023569,002509:                                                                                                  #        POLARITY OF THE COMMAND.  AT RRSCALUP EACH COMMAND IS
023570,002510:                                                                                                  #        SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023571,002511:                                                                                                  #        .5 DEGREES, MPAC +1 IS SET POSITIVE.  IF A CONTINUOUS DESIGNATE 
023572,002512:                                                                                                  #        (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023573,002513:                                                                                                  #        THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023574,002514:                                                                                                  #        CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023575,002515:                                                                                                  #        IS IN PROGRESS.  IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023576,002516:                                                                                                  #        OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED.  IF NO
023577,002517:                                                                                                  #        CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023578,002518:                                                                                                  #        INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023579,002519:                                                                                                  #        CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023580,002520:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5
023581,002521:                                                                                                  #        DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023582,002522:                                                                                                  #        (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023583,002523:                                                                                                  #        COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023584,002524:                                                                                                  #        PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023585,002525:                                                                                                  #        LOCK-ON FLAG (STATE BIT 5) IS CHECKED.  IF NOT PRESENT, THE
023586,002526:                                                                                                  #        DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023587,002527:                                                                                                  #        COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023588,002528:                                                                                                  #        CALLED.  IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023589,002529:                                                                                                  #        BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023590,002530:                                                                                                  #        RR DATA GOOD (CHAN 33 BIT 4) SIGNAL.  IF RR DATA GOOD
023591,002531:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023592,002532:                                                                                                  #        THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023593,002533:                                                                                                  #        AND ENDOFJOB CALLED.  IF RR DATA GOOD IS NOT PRESENT, RROUT
023594,002534:                                                                                                  #        IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023595,002535:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023596,002536:                                                                                                  #        VIA ENDOFJOB.
023597,002537: 
023598,002538:                                                                                                  #  CALLING SEQUENCE:
023599,002539: 
023600,002540:                                                                                                  #        EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023601,002541: 
023602,002542:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023603,002543: 
023604,002544:                                                                                                  #        RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023605,002545:                                                                                                  #        LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023606,002546: 
023607,002547:                                                                                                  #  SUBROUTINES CALLED_
023608,002548: 
023609,002549:                                                                                                  #        READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT

Page 552

023611,002551: 
023612,002552:                                                                                                  #  JOBS OR TASKS INITIATED_
023613,002553: 
023614,002554:                                                                                                  #        NONE
023615,002555: 
023616,002556:                                                                                                  #  ALARMS_  NONE
023617,002557: 
023618,002558:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
023619,002559: 
023620,002560: 25,2646           00006        DODES              EXTEND                                         
023621,002561: 25,2647           30036                           DCA      CDUT                                  
023622,002562: 25,2650           53107                           DXCH     TANG                                  
023623,002563: 
023624,002564: 25,2651           06042                           TC       INTPRET                               
023625,002565: 
023626,002566: 25,2652           77201                           SETPD    VLOAD                                 
023627,002567: 25,2653           00001                                    0                                     
023628,002568: 25,2654           01101                                    RRTARGET                              
023629,002569: 25,2655           74214                           BON      VXSC                                  
023630,002570: 25,2656           00311                                    RRNBSW                                
023631,002571: 25,2657           52671                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
023632,002572: 25,2660           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
023633,002573: 25,2661           63372                           VSL1     PDVL                                  
023634,002574: 25,2662           01761                                    LOSVEL                                
023635,002575: 25,2663           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
023636,002576: 25,2664           13101                                    MCTOMS                                
023637,002577: 25,2665           45056                           UNIT     CALL                                  
023638,002578: 25,2666           47541                                    CDUTRIG                               
023639,002579: 25,2667           77624                           CALL                                           
023640,002580: 25,2670           47673                                    *SMNB*                                
023641,002581: 
023642,002582: 25,2671           14041        DONBRD             STODL    32D                                   
023643,002583: 25,2672           01110                                    TANG       +1                         
023644,002584: 25,2673           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
023645,002585: 25,2674           21577                                    CDULOGIC                              #        (-SIN(S)).
023646,002586: 25,2675           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
023647,002587: 25,2676           41546                           COS      PUSH                                  
023648,002588: 25,2677           65205                           DMP      PDDL                                  
023649,002589: 25,2700           00041                                    32D                                   
023650,002590: 25,2701           00045                                    36D                                   
023651,002591: 25,2702           44205                           DMP      BDSU                                  
023652,002592: 25,2703           00001                                    0                                     
023653,002593: 25,2704           77626                           STADR                                          
023654,002594: 25,2705           76667                           STORE    TANG       +1                         #  SHAFT COMMAND
023655,002595: 
023656,002596: 25,2706           47135                           SLOAD    RTB                                   
023657,002597: 25,2707           01107                                    TANG                                  
023658,002598: 25,2710           21577                                    CDULOGIC                              
023659,002599: 25,2711           71406                           PUSH     COS                                   #  COS(T) TO 4.
023660,002600: 25,2712           73525                           PDDL     SIN                                   
023661,002601: 25,2713           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
023662,002602: 25,2714           00003                                    2                                     

Page 553

023664,002604: 25,2715           65352                           SL1      PDDL                                  #  DEFINE VECTOR U =     (SIN(T)SIN(S))
023665,002605: 25,2716           00005                                    4                                     #                        (   COS(T)   )
023666,002606: 25,2717           41325                           PDDL     DMP                                   #                        (SIN(T)COS(S))
023667,002607: 25,2720           00007                                    6                                     
023668,002608: 25,2721           00001                                    0                                     
023669,002609: 25,2722           55552                           SL1      VDEF                                  
023670,002610: 25,2723           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
023671,002611: 25,2724           00041                                    32D                                   
023672,002612: 

Page 554

023674,002614:                                                                                                  #  AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE.  CONVERT THIS TO A
023675,002615:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023676,002616: 
023677,002617: 25,2725           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
023678,002618: 25,2726           00006                           EXTEND                                         
023679,002619: 25,2727           73075                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023680,002620: 25,2730           55354                           TS       TRUNNCMD                              #  TRUNNION COMMAND FOR RROUT
023681,002621: 25,2731           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
023682,002622: 25,2732           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
023683,002623: 25,2733           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
023684,002624: 25,2734           12737                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
023685,002625: 25,2735           31107                           CA       TANG       +1                         #  SHAFT ANGLE.  COMPENSATE FOR THIS SWITCH
023686,002626: 25,2736           12740                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
023687,002627: 25,2737           41107                 +3        CS       TANG       +1                         
023688,002628: 25,2740           00006                           EXTEND                                         
023689,002629: 25,2741           73075                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023690,002630: 25,2742           55355                           TS       SHAFTCMD                              #  SHAFT COMMAND FOR RROUT
023691,002631: 25,2743           06042                           TC       INTPRET                               
023692,002632: 
023693,002633: 25,2744           41345                           DLOAD    DMP                                   
023694,002634: 25,2745           00003                                    2                                     #  COS(S).
023695,002635: 25,2746           00005                                    4                                     #  COS(T).
023696,002636: 25,2747           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
023697,002637: 25,2750           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
023698,002638: 25,2751           00001                                    0                                     #  SIN(S).
023699,002639: 25,2752           72405                           DMP      SL1                                   
023700,002640: 25,2753           00005                                    4                                     #  COS(T).
023701,002641: 25,2754           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
023702,002642: 25,2755           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
023703,002643: 25,2756           52761                                    +3                                    
023704,002644: 25,2757           77624                           CALL                                           
023705,002645: 25,2760           47675                                    *NBSM*                                #  GET URR IN SM AXES.
023706,002646: 25,2761           77441                           DOT      EXIT                                  
023707,002647: 25,2762           01101                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
023708,002648: 
023709,002649: 25,2763           00006                           EXTEND                                         
023710,002650: 25,2764           43077                           DCS      COS1/2DG                              
023711,002651: 25,2765           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
023712,002652: 25,2766           10154                           CCS      MPAC                                  
023713,002653: 25,2767           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
023714,002654: 25,2770           12772                           TCF      +2                                    
023715,002655: 25,2771           34753                           CA       ONE                                   
023716,002656: 25,2772           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.

Page 555

023718,002658:                                                                                                  #  SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023719,002659: 
023720,002660: 25,2773           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023721,002661: 25,2774           12777                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
023722,002662: 25,2775           12777                           TCF      SIGNLCHK                              #  ERROR SIGNALS
023723,002663: 25,2776           13027                           TCF      DORROUT                               
023724,002664: 25,2777           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023725,002665: 25,3000           13010                           TCF      DGOODCHK                              
023726,002666: 25,3001           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023727,002667: 25,3002           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
023728,002668: 25,3003           10000                           CCS      A                                     
023729,002669: 25,3004           13015                           TCF      RRDESDUN                              
023730,002670: 
023731,002671: 25,3005           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
023732,002672: 25,3006           00006                           EXTEND                                         
023733,002673: 25,3007           05012                           WOR      CHAN12                                
023734,002674: 
023735,002675: 25,3010           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
023736,002676: 25,3011           00006                           EXTEND                                         
023737,002677: 25,3012           02033                           RAND     CHAN33                                
023738,002678: 25,3013           10000                           CCS      A                                     
023739,002679: 25,3014           13027                           TCF      DORROUT                               
023740,002680: 
023741,002681: 25,3015           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023742,002682: 25,3016           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
023743,002683: 25,3017           00004                           INHINT                                         
023744,002684: 25,3020           54110                           TS       RADMODES                              
023745,002685: 
023746,002686: 25,3021           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
023747,002687: 25,3022           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
023748,002688: 25,3023           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
023749,002689: 25,3024           00006                           EXTEND                                         
023750,002690: 25,3025           03012                           WAND     CHAN12                                
023751,002691: 25,3026           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
023752,002692: 
023753,002693: 25,3027           30076        DORROUT            CA       FLAGWRD2                              #  IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023754,002694: 25,3030           77715                           MASK     BIT12,14                              #  ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023755,002695: 25,3031           00006                           EXTEND                                         
023756,002696: 25,3032           13051                           BZF      NOTP20                                
023757,002697: 25,3033           06042                           TC       INTPRET                               
023758,002698: 25,3034           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
023759,002699: 25,3035           01101                                    RRTARGET                              
023760,002700: 25,3036           01767                                    MLOSV                                 
023761,002701: 25,3037           41572                           VSL1     PUSH                                  
023762,002702: 25,3040           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
023763,002703: 25,3041           01761                                    LOSVEL                                #  TO LOS VECTOR
023764,002704: 25,3042           13101                                    MCTOMS                                
023765,002705: 25,3043           53362                           VSR1     VAD                                   
023766,002706: 25,3044           77656                           UNIT                                           
023767,002707: 25,3045           15101                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)

Page 556

023769,002709: 25,3046           00045                                    36D                                   
023770,002710: 25,3047           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
023771,002711: 25,3050           77776                           EXIT                                           
023772,002712: 25,3051           00004        NOTP20             INHINT                                         
023773,002713: 25,3052           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
023774,002714: 25,3053           74741                           MASK     REPOSBIT                              #  REPOSITION HAS TAKEN OVER.
023775,002715: 25,3054           10000                           CCS      A                                     
023776,002716: 25,3055           02317                           TC       RROUT                                 
023777,002717: 
023778,002718: 25,3056           30076                           CA       FLAGWRD2                              
023779,002719: 25,3057           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
023780,002720: 25,3060           00006                           EXTEND                                         #  LOS COUNTER
023781,002721: 25,3061           15155                           BZF      ENDOFJOB                              
023782,002722: 25,3062           11456                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
023783,002723: 25,3063           03073                           TC       DODESEND                              #  A NEW LOS
023784,002724: 25,3064           06032                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
023785,002725: 25,3065           52613                           CADR     DESLOOP    +2                         
023786,002726: 25,3066           00003                           RELINT                                         
023787,002727: 25,3067           10067                           CCS      NEWJOB                                
023788,002728: 25,3070           05122                           TC       CHANG1                                
023789,002729: 25,3071           04616                           TC       BANKCALL                              
023790,002730: 25,3072           50732                           CADR     R21LEM2                               
023791,002731: 
023792,002732: 25,3073           55456        DODESEND           TS       LOSCOUNT                              
023793,002733: 25,3074           05155                           TC       ENDOFJOB                              
023794,002734: 
023795,002735: 25,3075           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
023796,002736: 25,3076     7715               BIT12,14           EQUALS   PRIO24                                #  OCT 24000
023797,002737: 25,3076           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
023798,002738: 25,3100           00310 00000  MCTOMS             2DEC     100        B-13                       
023799,002739: 

Page 557

023801,002741:                                                                                                  #  RADAR READ INITIALIZATION
023802,002742: 
023803,002743:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023804,002744: 
023805,002745: 25,3102           03122        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
023806,002746: 25,3103           00017        ALLREAD            OCT      17                                    
023807,002747: 
023808,002748: 25,3104           03123        LRVELZ             TC       INITREAD                              
023809,002749: 25,3105           00016                           OCT      16                                    
023810,002750: 
023811,002751: 25,3106           03123        LRVELY             TC       INITREAD                              
023812,002752: 25,3107           00015                           OCT      15                                    
023813,002753: 
023814,002754: 25,3110           03123        LRVELX             TC       INITREAD                              
023815,002755: 25,3111           00014                           OCT      14                                    
023816,002756: 
023817,002757: 25,3112           03122        RRRDOT             TC       INITREAD   -1                         
023818,002758: 25,3113           00012                           OCT      12                                    
023819,002759: 
023820,002760: 25,3114           03122        RRRANGE            TC       INITREAD   -1                         
023821,002761: 25,3115           00011                           OCT      11                                    
023822,002762: 
023823,002763:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023824,002764:                                                                                                  #  WANTED.  ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023825,002765: 
023826,002766: 25,3116           55104        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
023827,002767: 25,3117           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
023828,002768: 25,3120           51104                           INDEX    TIMEHOLD                              
023829,002769: 25,3121           13104                           TCF      LRVELZ                                
023830,002770: 

Page 558

023832,002772: 25,3122           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
023833,002773: 25,3123           00004        INITREAD           INHINT                                         
023834,002774: 
023835,002775: 25,3124           55104                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
023836,002776: 25,3125           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023837,002777: 25,3126           74751                           MP       BIT3                                  #  ENCOUNTERED).
023838,002778: 25,3127           53105                           DXCH     TIMEHOLD                              
023839,002779: 
023840,002780: 25,3130           10000                           CCS      A                                     
023841,002781: 25,3131           55110                           TS       NSAMP                                 
023842,002782: 25,3132           64753                           AD       ONE                                   
023843,002783:                                                                                                  #  INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023844,002784:                                                                                                  #                DOUBLE
023845,002785: 25,3133           55077                           TS       SAMPLIM                               
023846,002786: 
023847,002787: 25,3134           33156                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
023848,002788: 25,3135           00006                           EXTEND                                         
023849,002789: 25,3136           02033                           RAND     CHAN33                                
023850,002790: 25,3137           55112                           TS       OLDATAGD                              
023851,002791: 
023852,002792: 25,3140           43103                           CS       ALLREAD                               
023853,002793: 25,3141           00006                           EXTEND                                         
023854,002794: 25,3142           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
023855,002795: 
023856,002796: 25,3143           50002                           INDEX    Q                                     
023857,002797: 25,3144           30000                           CAF      0                                     
023858,002798: 25,3145           04674                           TC       IBNKCALL                              
023859,002799: 25,3146           36000                           CADR     RADSTART                              
023860,002800: 
023861,002801: 25,3147           00006                           EXTEND                                         
023862,002802: 25,3150           30025                           DCA      TIME2                                 
023863,002803: 25,3151           21105                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
023864,002804: 
023865,002805: 25,3152           34755                           CAF      ZERO                                  
023866,002806: 25,3153           54001                           TS       L                                     
023867,002807: 25,3154           53101                           DXCH     SAMPLSUM                              
023868,002808: 25,3155           12377                           TCF      ROADBACK                              
023869,002809: 
023870,002810: 25,3156           00230        DGBITS             OCT      230                                   
023871,002811: 

Page 559

023873,002813:                                                                                                  #  RADAR RUPT READER
023874,002814: 
023875,002815:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT.  IT READS THE DATA $ LOTS MORE.
023876,002816: 
023877,002817: 25,2000                                           SETLOC   RADARUPT                              
023878,002818: 25,2000                                           BANK                                           
023879,002819: 
023880,002820: 25,3157                                           COUNT*   $$/RRUPT                              
023881,002821: 25,3157           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
023882,002822: 25,3160           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
023883,002823: 25,3161           54016                           TS       BANKRUPT                              
023884,002824: 25,3162           00006                           EXTEND                                         
023885,002825: 25,3163           22012                           QXCH     QRUPT                                 
023886,002826: 
023887,002827: 25,3164           00006                           EXTEND                                         
023888,002828: 25,3165           31454                           DCA      TTOGO                                 #  LOAD TIME TO TIG
023889,002829: 25,3166           53272                           DXCH     TTOTIG                                #  FOR R65 RADAR READING.
023890,002830: 
023891,002831: 25,3167           34757                           CAF      SEVEN                                 
023892,002832: 25,3170           00006                           EXTEND                                         
023893,002833: 25,3171           02013                           RAND     CHAN13                                
023894,002834: 25,3172           55332                           TS       DNINDEX                               
023895,002835: 25,3173           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO, DO NOT STORE
023896,002836: 25,3174           13200                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023897,002837: 25,3175           30046                           CA       RNRAD                                 
023898,002838: 25,3176           51332                           INDEX    DNINDEX                               
023899,002839: 25,3177           55327                           TS       DNRRANGE   -1                         
023900,002840: 25,3200           11077        TRYCOUNT           CCS      SAMPLIM                               
023901,002841: 25,3201           13223                           TCF      PLENTY                                
023902,002842: 25,3202           13206                           TCF      NOMORE                                
023903,002843: 25,3203           05567                           TC       ALARM                                 
023904,002844: 25,3204           00520                           OCT      520                                   
023905,002845: 25,3205           05270                           TC       RESUME                                
023906,002846: 
023907,002847: 25,3206           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
023908,002848: 25,3207           74735                           MASK     LRBYBIT                               
023909,002849: 25,3210           00006                           EXTEND                                         
023910,002850: 25,3211           13220                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
023911,002851: 
023912,002852: 25,3212           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
023913,002853: 25,3213           74743                           MASK     R04FLBIT                              #  IF 1, R04 IS RUNNING.  DO NOT ALARM-
023914,002854: 25,3214           00006                           EXTEND                                         
023915,002855: 25,3215           13220                           BZF      BADRAD                                
023916,002856: 
023917,002857: 25,3216           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
023918,002858: 25,3217           00521                           OCT      521                                   
023919,002859: 25,3220           44753        BADRAD             CS       ONE                                   
023920,002860: 25,3221           55077                           TS       SAMPLIM                               
023921,002861: 25,3222           03563                           TC       RDBADEND   -2                         
023922,002862: 25,3223           55077        PLENTY             TS       SAMPLIM                               

Page 560

023924,002864: 25,3224           34751                           CAF      BIT3                                  
023925,002865: 25,3225           00006                           EXTEND                                         
023926,002866: 25,3226           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
023927,002867: 25,3227           00006                           EXTEND                                         
023928,002868: 25,3230           13277                           BZF      RENDRAD                               
023929,002869: 
023930,002870: 25,3231           03365                           TC       R77CHECK                              #  R77 QUITS HERE.
023931,002871: 25,3232           36250        VELCHK             CAF      BIN3                                  #  = 00003 OCT
023932,002872: 25,3233           00006                           EXTEND                                         
023933,002873: 25,3234           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
023934,002874: 25,3235           76250                           MASK     BIN3                                  
023935,002875: 25,3236           00006                           EXTEND                                         
023936,002876: 25,3237           13273                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
023937,002877: 
023938,002878: 25,3240           34733                           CAF      POSMAX                                
023939,002879: 25,3241           70046                           MASK     RNRAD                                 
023940,002880: 25,3242           62000                           AD       LVELBIAS                              
023941,002881: 25,3243           54001                           TS       L                                     
023942,002882: 25,3244           30046                           CAE      RNRAD                                 
023943,002883: 25,3245           60000                           DOUBLE                                         
023944,002884: 25,3246           74753                           MASK     BIT1                                  
023945,002885: 25,3247           52064                           DXCH     ITEMP3                                
023946,002886: 
023947,002887: 25,3250           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023948,002888: 25,3251           03425                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
023949,002889:                                                                                                  #  INDEPENDENT OF DATA GOOD.
023950,002890: 
023951,002891: 25,3252           11110                           CCS      NSAMP                                 
023952,002892: 25,3253           03263                           TC       NOEND                                 
023953,002893: 25,3254           44753        GOODRAD            CS       ONE                                   
023954,002894: 25,3255           55077                           TS       SAMPLIM                               
023955,002895: 25,3256           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023956,002896: 25,3257           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
023957,002897: 25,3260           54110                           TS       RADMODES                              
023958,002898: 25,3261           03612                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
023959,002899: 25,3262           03556                           TC       RGOODEND   -2                         
023960,002900: 
023961,002901: 25,3263           55110        NOEND              TS       NSAMP                                 
023962,002902: 25,3264           11077        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
023963,002903: 25,3265           13267                           TCF      +2                                    
023964,002904: 25,3266           13444                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
023965,002905: 25,3267           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
023966,002906: 25,3270           04674                           TC       IBNKCALL                              
023967,002907: 25,3271           36000                           CADR     RADSTART                              
023968,002908: 
023969,002909: 25,3272           05270                           TC       RESUME                                
023970,002910: 
023971,002911: 25,3273           34747        LRHEIGHT           CAF      BIT5                                  
023972,002912: 25,3274           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)

Page 561

023974,002914: 25,3275           34743                           CAF      BIT9                                  
023975,002915: 25,3276           03321                           TC       SCALECHK   -1                         
023976,002916: 
023977,002917: 25,3277           34741        RENDRAD            CAF      REPOSBIT                              #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
023978,002918: 25,3300           70110                           MASK     RADMODES                              #  LIMITS.
023979,002919: 25,3301           10000                           CCS      A                                     
023980,002920: 25,3302           13220                           TCF      BADRAD                                
023981,002921: 
023982,002922: 25,3303           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
023983,002923: 25,3304           74745                           MASK     RCDUFBIT                              
023984,002924: 25,3305           10000                           CCS      A                                     
023985,002925: 25,3306           13220                           TCF      BADRAD                                
023986,002926: 
023987,002927: 25,3307           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
023988,002928: 25,3310           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
023989,002929: 
023990,002930: 25,3311           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
023991,002931: 25,3312           00006                           EXTEND                                         
023992,002932: 25,3313           02013                           RAND     CHAN13                                
023993,002933: 25,3314           54002                           TS       Q                                     #  FOR LATER TESTING.
023994,002934: 25,3315           10000                           CCS      A                                     
023995,002935: 25,3316           13320                           TCF      +2                                    
023996,002936: 25,3317           13332                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
023997,002937: 25,3320           34751                           CAF      BIT3                                  
023998,002938: 25,3321           54001                           TS       L                                     
023999,002939: 
024000,002940: 25,3322           00006        SCALECHK           EXTEND                                         
024001,002941: 25,3323           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
024002,002942: 25,3324           56001                           XCH      L                                     
024003,002943: 25,3325           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
024004,002944: 25,3326           00006                           EXTEND                                         
024005,002945: 25,3327           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
024006,002946: 25,3330           10000                           CCS      A                                     
024007,002947: 25,3331           03351                           TC       SCALCHNG                              #  THEY DIFFER
024008,002948: 
024009,002949: 25,3332           34733        RADIN              CAF      POSMAX                                
024010,002950: 25,3333           70046                           MASK     RNRAD                                 
024011,002951: 25,3334           54064                           TS       ITEMP4                                
024012,002952: 
024013,002953: 25,3335           30046                           CAE      RNRAD                                 
024014,002954: 25,3336           60000                           DOUBLE                                         
024015,002955: 25,3337           74753                           MASK     BIT1                                  
024016,002956: 25,3340           54063                           TS       ITEMP3                                
024017,002957: 
024018,002958: 25,3341           10002                           CCS      Q                                     #  SEE IF RR RDOT.
024019,002959: 25,3342           13403                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
024020,002960: 
024021,002961: 25,3343           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
024022,002962: 25,3344           42002                           DCS      RDOTBIAS                              
024023,002963: 25,3345           20064        DASAMPL            DAS      ITEMP3                                

Page 562

024025,002965: 25,3346           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
024026,002966: 25,3347           03426                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
024027,002967: 25,3350           03254                           TC       GOODRAD                               
024028,002968: 
024029,002969: 25,3351           22110        SCALCHNG           LXCH     RADMODES                              
024030,002970: 25,3352           64753                           AD       BIT1                                  
024031,002971: 25,3353           00006                           EXTEND                                         
024032,002972: 25,3354           06001                           RXOR     LCHAN                                 
024033,002973: 25,3355           54110                           TS       RADMODES                              
024034,002974: 25,3356           33156                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
024035,002975: 25,3357           00006                           EXTEND                                         
024036,002976: 25,3360           02033                           RAND     CHAN33                                
024037,002977: 25,3361           55112                           TS       OLDATAGD                              
024038,002978: 25,3362           05504                           TC       UPFLAG                                #  SET RNGSCFLG
024039,002979: 25,3363           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
024040,002980: 25,3364           13220                           TCF      BADRAD                                
024041,002981: 
024042,002982:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024043,002983: 
024044,002984: 25,3365           40101        R77CHECK           CS       FLAGWRD5                              
024045,002985: 25,3366           74741                           MASK     R77FLBIT                              
024046,002986: 25,3367           10000                           CCS      A                                     
024047,002987: 25,3370           00002                           TC       Q                                     #  NOT R77
024048,002988: 25,3371           43402                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
024049,002989: 25,3372           70110                           MASK     RADMODES                              
024050,002990: 25,3373           54001                           TS       L                                     
024051,002991: 25,3374           33402                           CA       BITS5,8                               
024052,002992: 25,3375           00006                           EXTEND                                         
024053,002993: 25,3376           02033                           RAND     CHAN33                                
024054,002994: 25,3377           60001                           AD       L                                     
024055,002995: 25,3400           54110                           TS       RADMODES                              
024056,002996: 25,3401           03556                           TC       RGOODEND   -2                         
024057,002997: 25,3402           00220        BITS5,8            OCT      220                                   
024058,002998: 

Page 563

024060,003000:                                                                                                  #  THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024061,003001: 
024062,003002: 25,3403           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
024063,003003: 25,3404           13406                           TCF      +2                                    #  ON HIGH SCALE.
024064,003004: 25,3405           13346                           TCF      DGCHECK2                              
024065,003005: 
024066,003006: 25,3406           31332                           CA       DNINDEX                               
024067,003007: 25,3407           74751                           MASK     BIT3                                  
024068,003008: 25,3410           10000                           CCS      A                                     
024069,003009: 25,3411           13420                           TCF      LRSCK                                 
024070,003010: 
024071,003011: 25,3412           52064                           DXCH     ITEMP3                                
024072,003012: 25,3413           20001                           DDOUBL                                         
024073,003013: 25,3414           20001                           DDOUBL                                         
024074,003014: 25,3415           20001                           DDOUBL                                         
024075,003015: 25,3416           52064                           DXCH     ITEMP3                                
024076,003016: 
024077,003017: 25,3417           13346                           TCF      DGCHECK2                              
024078,003018: 
024079,003019: 25,3420           00006        LRSCK              EXTEND                                         
024080,003020: 25,3421           30064                           DCA      ITEMP3                                
024081,003021: 25,3422           20001                           DDOUBL                                         
024082,003022: 25,3423           20001                           DDOUBL                                         
024083,003023: 25,3424           13345                           TCF      DASAMPL                               
024084,003024: 
024085,003025: 25,3425           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
024086,003026: 25,3426           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
024087,003027: 25,3427           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING.  IF
024088,003028: 25,3430           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN.  IF
024089,003029: 25,3431           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
024090,003030: 25,3432           71112                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
024091,003031: 25,3433           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024092,003032: 25,3434           57112                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
024093,003033: 25,3435           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
024094,003034: 25,3436           60001                           AD       L                                     
024095,003035: 25,3437           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
024096,003036: 25,3440           03264                           TC       RESAMPLE                              
024097,003037: 25,3441           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
024098,003038: 25,3442           21101                           DAS      SAMPLSUM                              #  ACCUMULATION.
024099,003039: 25,3443           00002                           TC       Q                                     
024100,003040: 
024101,003041: 25,3444           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
024102,003042: 25,3445           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
024103,003043: 25,3446           60061                           AD       ITEMP1                                
024104,003044: 25,3447           54110                           TS       RADMODES                              
024105,003045: 
024106,003046: 25,3450           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
024107,003047: 25,3451           53101                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.

Page 564

024109,003049: 25,3452           03612                           TC       RADLITES                              
024110,003050: 25,3453           13206                           TCF      NOMORE                                
024111,003051: 

Page 565

024113,003053:                                                                                                  #  CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024114,003054: 
024115,003055: 17,2000                                           SETLOC   C13BANK                               
024116,003056: 17,2000                                           BANK                                           
024117,003057: 
024118,003058: 17,2000           54002        RADSTART           TS       Q                                     
024119,003059: 17,2001           00006                 +1        EXTEND                                         
024120,003060: 17,2002           00004                           READ     LOSCALAR                              #  READ PRESENT TIME
024121,003061: 17,2003           54001                           TS       L                                     
024122,003062: 
024123,003063: 17,2004           74346                           MASK     LOW5                                  #  ONLY THE LOW 5 BITS MATTER
024124,003064: 17,2005           40000                           COM                                            
024125,003065: 17,2006           64746                           AD       BIT6                                  #  COMPUTE DELTA TIME TO NEXT T5 TICK
024126,003066: 17,2007           74346                           MASK     LOW5                                  
024127,003067: 17,2010           55270                           TS       RADDEL                                
024128,003068: 
024129,003069: 17,2011           67751                           AD       NEG2                                  #  IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024130,003070: 17,2012           00006                           EXTEND                                         #  IT HAS TICKED.  THE MAX DELAY HERE WILL
024131,003071: 17,2013           62001                           BZMF     RADSTART   +1                         #  BE 937.5 MICROSECONDS
024132,003072: 
024133,003073: 17,2014           30002                           CA       Q                                     
024134,003074: 17,2015           00006                           EXTEND                                         #  IT IS SAFE TO SET THE ACTIVITY BIT NOW
024135,003075: 17,2016           05013                           WOR      CHAN13                                #  BECAUSE OF THE ABOVE LOOP
024136,003076: 
024137,003077: 17,2017           40001                           CS       L                                     
024138,003078: 17,2020           55267                           TS       RADTIME                               #  SAVE NEGATIVE TIME OF READ
024139,003079: 17,2021           04707                           TC       ISWRETRN                              
024140,003080: 
024141,003081: 17,2022           55266        C13STAL1           TS       C13FSAV                               
024142,003082: 
024143,003083: 17,2023           34750                           CA       BIT4                                  
024144,003084: 17,2024           00006                           EXTEND                                         
024145,003085: 17,2025           02013                           RAND     CHAN13                                
024146,003086: 17,2026           00006                           EXTEND                                         
024147,003087: 17,2027           12050                           BZF      TCQSTAL                               #  IF NO RADAR ACTIVITY, RETURN
024148,003088: 
024149,003089: 17,2030           12031        C13SLOOP           NOOP                                           #  *** NECESSARY TO PREVENT A TC TRAP ***
024150,003090: 17,2031           00006                           EXTEND                                         
024151,003091: 17,2032           00004                           READ     LOSCALAR                              
024152,003092: 17,2033           61267                           AD       RADTIME                               #  COMPUTE DELTA T SINCE LAST RADAR READ
024153,003093: 17,2034           64736                           AD       HALF                                  
024154,003094: 17,2035           64736                           AD       HALF                                  #  CORRECT FOR TIME OVERFLOW
024155,003095: 17,2036           56001                           XCH      L                                     
024156,003096: 
024157,003097: 17,2037           32053                           CA       90MSCALR                              
024158,003098: 17,2040           61270                           AD       RADDEL                                
024159,003099: 17,2041           00006                           EXTEND                                         
024160,003100: 17,2042           60001                           SU       L                                     

Page 566

024162,003102: 17,2043           00006                           EXTEND                                         
024163,003103: 17,2044           62050                           BZMF     TCQSTAL                               #  FORBIDDEN ZONE IS PAST, RETURN
024164,003104: 
024165,003105: 17,2045           62054                           AD       -DTSCALR                              
024166,003106: 17,2046           00006                           EXTEND                                         
024167,003107: 17,2047           62030                           BZMF     C13SLOOP                              #  IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024168,003108: 
024169,003109: 17,2050           22002        TCQSTAL            LXCH     Q                                     #  ALL IS WELL, RETURN
024170,003110: 17,2051           31266                           CA       C13FSAV                               
024171,003111: 17,2052           52005                           DTCF                                           
024172,003112: 
024173,003113: 17,2053           00440        90MSCALR           OCT      440                                   #  90 MILLISEC IN SCALAR
024174,003114: 17,2054           77754        -DTSCALR           OCT      77754                                 #  -5.9375 MS IN SCALAR
024175,003115: 
024176,003116:    6000                                           SETLOC   FFTAG6                                
024177,003117:    6000                                           BANK                                           
024178,003118: 
024179,003119:    6022           37727        C13STALL           CAF      PRIO36                                #  PRIO36 = 36000 = FCADR (17,2000)
024180,003120:    6023           56004                           XCH      FBANK                                 
024181,003121:    6024           12022                           TCF      C13STAL1                              
024182,003122: 

Page 567

024184,003124:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024185,003125: 
024186,003126: 25,2000                                           SETLOC   P20S1                                 
024187,003127: 25,2000                                           BANK                                           
024188,003128: 
024189,003129: 25,3454                                           COUNT*   $$/RSUB                               
024190,003130: 25,3454           00004        LRPOS2             INHINT                                         
024191,003131: 
024192,003132: 25,3455           40110                           CS       RADMODES                              
024193,003133: 25,3456           74746                           MASK     LRPOSBIT                              #  SHOW DESIRED LR POSITION IS 2
024194,003134: 25,3457           26110                           ADS      RADMODES                              
024195,003135: 
024196,003136: 25,3460           34745                           CAF      BIT7                                  
024197,003137: 25,3461           00006                           EXTEND                                         
024198,003138: 25,3462           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
024199,003139: 25,3463           00006                           EXTEND                                         
024200,003140: 25,3464           13513                           BZF      RADNOOP                               
024201,003141: 
024202,003142: 25,3465           34737                           CAF      BIT13                                 
024203,003143: 25,3466           00006                           EXTEND                                         
024204,003144: 25,3467           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
024205,003145: 25,3470           33530                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
024206,003146: 25,3471           05203                           TC       WAITLIST                              
024207,003147: 25,3472  E7,1456                                  EBANK=   LOSCOUNT                              
024208,003148: 25,3472           03526 52067                     2CADR    LRPOSCAN                              
024209,003149: 
024210,003150: 25,3474           02377                           TC       ROADBACK                              
024211,003151: 
024212,003152: 25,3475           55077        LRPOSNXT           TS       SAMPLIM                               
024213,003153: 25,3476           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024214,003154: 25,3477           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
024215,003155: 
024216,003156: 25,3500           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
024217,003157: 25,3501           00006                           EXTEND                                         
024218,003158: 25,3502           02033                           RAND     CHAN33                                
024219,003159: 25,3503           00006                           EXTEND                                         
024220,003160: 25,3504           13520                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024221,003161: 
024222,003162: 25,3505           11077                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
024223,003163: 25,3506           13475                           TCF      LRPOSNXT                              
024224,003164: 
024225,003165: 25,3507           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
024226,003166: 25,3510           00006                           EXTEND                                         
024227,003167: 25,3511           03012                           WAND     CHAN12                                
024228,003168: 25,3512           13565                           TCF      RDBADEND                              
024229,003169: 
024230,003170: 25,3513           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
024231,003171: 25,3514           05203                           TC       WAITLIST                              
024232,003172: 25,3515  E7,1456                                  EBANK=   LOSCOUNT                              
024233,003173: 25,3515           03560 52067                     2CADR    RGOODEND                              

Page 568

024235,003175: 25,3517           02377                           TC       ROADBACK                              
024236,003176: 
024237,003177: 25,3520           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024238,003178: 25,3521           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024239,003179: 
024240,003180: 25,3522           44737                           CS       BIT13                                 #  REMOVE COMMAND
024241,003181: 25,3523           00006                           EXTEND                                         
024242,003182: 25,3524           03012                           WAND     CHAN12                                
024243,003183: 25,3525           13560                           TCF      RGOODEND                              
024244,003184: 
024245,003185: 25,3526           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
024246,003186: 25,3527           13475                           TCF      LRPOSNXT                              
024247,003187: 25,3530           01130        6SECS              DEC      600        B-14                       
024248,003188: 
024249,003189: 25,3531           03454        LRP2COMM           TC       LRPOS2                                
024250,003190: 25,3532           04616                           TC       BANKCALL                              
024251,003191: 25,3533           17705                           CADR     RADSTALL                              
024252,003192: 25,3534           03536                           TC       LP2ALM                                
024253,003193: 25,3535           13547                           TCF      GOPINNER                              
024254,003194: 
024255,003195: 25,3536           05567        LP2ALM             TC       ALARM                                 
024256,003196: 25,3537           00523                           OCT      523                                   
024257,003197: 25,3540           13547                           TCF      GOPINNER                              
024258,003198: 
024259,003199: 25,3541           35016        V59GP63            CA       EBANK7                                
024260,003200: 25,3542           54003                           TS       EBANK                                 
024261,003201: 25,3543  E7,1427                                  EBANK=   RPCRTIME                              
024262,003202: 25,3543           34733                           CA       POSMAX                                
024263,003203: 25,3544           55427                           TS       RPCRTIME                              
024264,003204: 25,3545           44736                           CS       BIT14                                 
024265,003205: 25,3546           55430                           TS       RPCRTQSW                              
024266,003206: 25,3547           04635        GOPINNER           TC       POSTJUMP                              
024267,003207: 25,3550           21051                           CADR     PINBRNCH                              
024268,003208: 

Page 569

024270,003210:                                                                                                  #  SEQUENCES TO TERMINATE RR OPERATIONS.
024271,003211: 
024272,003212: 25,3551           34745        ENDRADAR           CAF      RCDUFBIT                              #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
024273,003213: 25,3552           70110                           MASK     RADMODES                              
024274,003214: 25,3553           10000                           CCS      A                                     
024275,003215: 25,3554           13560                           TCF      RGOODEND                              
024276,003216: 25,3555           13565                           TCF      RDBADEND                              
024277,003217: 25,3556           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024278,003218: 25,3557           54332                           TS       RUPTAGN                               
024279,003219: 
024280,003220: 25,3560           34752        RGOODEND           CAF      TWO                                   
024281,003221: 25,3561           04635                           TC       POSTJUMP                              
024282,003222: 25,3562           17656                           CADR     GOODEND                               
024283,003223: 
024284,003224: 25,3563           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
024285,003225: 25,3564           54332                           TS       RUPTAGN                               
024286,003226: 25,3565           34752        RDBADEND           CAF      TWO                                   
024287,003227: 25,3566           04635                           TC       POSTJUMP                              
024288,003228: 25,3567           17653                           CADR     BADEND                                
024289,003229: 
024290,003230: 25,3570     6250               BIN3               EQUALS   THREE                                 
024291,003231: 

Page 570

024293,003233:                                                                                                  #  PROGRAM NAME_  LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024294,003234:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024295,003235: 
024296,003236:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024297,003237:                                                                                                  #        1)      EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024298,003238:                                                                                                  #        2)      COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024299,003239:                                                                                                  #        3)      COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024300,003240: 
024301,003241:                                                                                                  #  CALLING SEQUENCE      CALL
024302,003242:                                                                                                  #                                LPS20.1
024303,003243: 
024304,003244:                                                                                                  #  SUBROUTINES CALLED_
024305,003245:                                                                                                  #        LEMPREC, CSMPREC
024306,003246: 
024307,003247:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER + 2
024308,003248: 
024309,003249:                                                                                                  #  ERROR EXITS_  NONE
024310,003250: 
024311,003251:                                                                                                  #  ALARMS_  NONE
024312,003252: 
024313,003253:                                                                                                  #  OUTPUT_
024314,003254:                                                                                                  #        LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024315,003255:                                                                                                  #        MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024316,003256:                                                                                                  #        RRNBSW CLEARED
024317,003257: 
024318,003258:                                                                                                  #  INITIALIZED ERASEABLE
024319,003259:                                                                                                  #        TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024320,003260:                                                                                                  #        SEE ORBITAL INTEGRATION ROUTINE
024321,003261: 
024322,003262:                                                                                                  #  DEBRIS_
024323,003263:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024324,003264: 
024325,003265: 23,2337                                           BANK     23                                    
024326,003266: 24,2000                                           SETLOC   P20S                                  
024327,003267: 24,2000                                           BANK                                           

Page 571

024329,003269: 24,3256                                           COUNT*   $$/LPS20                              
024330,003270: 
024331,003271: 24,3256           43020        LPS20.1            STQ      BOFF                                  
024332,003272: 24,3257           01757                                    LS21X                                 
024333,003273: 24,3260           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
024334,003274: 24,3261           51265                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
024335,003275: 24,3262           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
024336,003276: 24,3263           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
024337,003277: 24,3264           51275                                    CSMINT                                
024338,003278: 24,3265           77624        LMINT              CALL                                           
024339,003279: 24,3266           27077                                    LEMCONIC                              #  EXTRAPOLATE LEM
024340,003280: 24,3267           77775                           VLOAD                                          
024341,003281: 24,3270           00001                                    RATT                                  
024342,003282: 24,3271           26352                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
024343,003283: 24,3272           00007                                    VATT                                  
024344,003284: 24,3273           16360                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
024345,003285: 24,3274           00015                                    TAT                                   
024346,003286: 24,3275           34041        CSMINT             STCALL   TDEC1                                 
024347,003287: 24,3276           27065                                    CSMCONIC                              #  EXTRAPOLATE CSM
024348,003288: 24,3277           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024349,003289: 24,3300           00007                                    VATT                                  
024350,003290: 24,3301           02360                                    LMVEL                                 
024351,003291: 24,3302           76521                           MXV      VSL1                                  
024352,003292: 24,3303           01734                                    REFSMMAT                              
024353,003293: 24,3304           77776                           EXIT                                           
024354,003294: 24,3305           06032                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
024355,003295: 24,3306           52613                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
024356,003296: 24,3307           06042                           TC       INTPRET                               
024357,003297: 24,3310           25761                           STOVL    LOSVEL                                
024358,003298: 24,3311           00001                                    RATT                                  
024359,003299: 24,3312           43051                           VSU      BOFF                                  
024360,003300: 24,3313           02352                                    LMPOS                                 
024361,003301: 24,3314           00350                                    RNDVZFLG                              
024362,003302: 24,3315           51322                                    NOTSHIFT                              
024363,003303: 24,3316           77604                           BOVB                                           
024364,003304: 24,3317           57754                                    TCDANZIG                              
024365,003305: 24,3320           77661                           VSL                                            
024366,003306: 24,3321           20212                                    9D                                    
024367,003307: 24,3322           41056        NOTSHIFT           UNIT     BOVB                                  #  IF OVERFLOW, RANGE MUST BE GREATER
024368,003308: 24,3323           50102                                    526ALARM                              #  THAN 400 N. M.
024369,003309: 24,3324           76521                           MXV      VSL1                                  
024370,003310: 24,3325           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
024371,003311: 24,3326           15101                           STODL    RRTARGET                              
024372,003312: 24,3327           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
024373,003313: 24,3330           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
024374,003314: 24,3331           77614                           CLRGO                                          
024375,003315: 24,3332           00231                                    RRNBSW                                
024376,003316: 24,3333           01757                                    LS21X                                 
024377,003317: 

Page 572

024379,003319:                                                                                                  #  PROGRAM NAME_  LPS20.2  400 NM RANGE CHECK
024380,003320:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024381,003321: 
024382,003322:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024383,003323:                                                                                                  #        COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024384,003324: 
024385,003325:                                                                                                  #  CALLING SEQUENCE      CALL
024386,003326:                                                                                                  #                                LPS20.2
024387,003327: 
024388,003328:                                                                                                  #  SUBROUTINES CALLED_  NONE
024389,003329: 
024390,003330:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024391,003331: 
024392,003332:                                                                                                  #  ERROR EXITS_  RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024393,003333: 
024394,003334:                                                                                                  #  ALARMS_  NONE
024395,003335: 
024396,003336:                                                                                                  #  OUTPUT_  NONE
024397,003337: 
024398,003338:                                                                                                  #  INITIALIZED ERASEABLE_
024399,003339:                                                                                                  #        PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024400,003340: 
024401,003341:                                                                                                  #  DEBRIS
024402,003342:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024403,003343: 
024404,003344: 25,2000                                           SETLOC   P20S1                                 
024405,003345: 25,2000                                           BANK                                           
024406,003346: 25,3570                                           COUNT*   $$/LPS20                              
024407,003347: 
024408,003348: 25,3570           45345        LPS20.2            DLOAD    DSU                                   
024409,003349: 25,3571           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
024410,003350: 25,3572           13603                                    FHNM                                  #  OVER 400NM  _
024411,003351: 25,3573           77644                           BPL                                            
024412,003352: 25,3574           53577                                    TOFAR                                 
024413,003353: 25,3575           43535                           SLOAD    RVQ                                   
024414,003354: 25,3576           06524                                    ZERO/SP                               
024415,003355: 25,3577           43535        TOFAR              SLOAD    RVQ                                   
024416,003356: 25,3600           13602                                    ONE/SP                                
024417,003357: 25,3601           00001        ONE/SP             DEC      1          B-14                       

Page 573

024419,003359: 25,3602           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
024420,003360: 

Page 574

024422,003362:                                                                                                  #  PROGRAM NAME:  LRS22.1 (DATA READ SUBROUTINE 1)
024423,003363:                                                                                                  #  MOD. NO.: 1           BY: P. VOLANTE  SDC             DATE:  11-15-66
024424,003364: 
024425,003365:                                                                                                  #  FUNCTIONAL DESCRIPTION
024426,003366:                                                                                                  #        1)      READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME.  CONVERTS THIS
024427,003367:                                                                                                  #                DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3).  CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024428,003368:                                                                                                  #                RR REPOSITION AND RR CDU FAIL
024429,003369:                                                                                                  #        2)      COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024430,003370: 
024431,003371:                                                                                                  #  CALLING SEQUENCE:  BANKCALL FOR LRS22.1
024432,003372: 
024433,003373:                                                                                                  #  SUBROUTINES CALLED:
024434,003374:                                                                                                  #        RRRDOT          LPS20.1
024435,003375:                                                                                                  #        RRRANGE         BANKCALL
024436,003376:                                                                                                  #        RADSTALL        CDULOGIC
024437,003377:                                                                                                  #        RRNB            SMNB
024438,003378: 
024439,003379:                                                                                                  #  NORMAL EXIT:  RETURN TO CALLER+1 WITH MPAC SET TO +0
024440,003380: 
024441,003381:                                                                                                  #  ERROR EXITS:  RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024442,003382:                                                                                                  #        00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024443,003383:                                                                                                  #        00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024444,003384: 
024445,003385:                                                                                                  #  ALARMS:  521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024446,003386:                                                                                                  #        (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024447,003387: 
024448,003388:                                                                                                  #  OUTPUT:  RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024449,003389:                                                                                                  #        RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024450,003390: 
024451,003391:                                                                                                  #        ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024452,003392:                                                                                                  #                RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024453,003393:                                                                                                  #                RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024454,003394:                                                                                                  #                RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024455,003395:                                                                                                  #                AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024456,003396:                                                                                                  #                MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024457,003397: 
024458,003398:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024459,003399:                                                                                                  #        RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:

Page 575

024461,003401:                                                                                                  #                1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024462,003402:                                                                                                  #                2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024463,003403:                                                                                                  #        THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024464,003404: 
024465,003405:                                                                                                  #  DEBRIS:  LRS22.1X, A, L, Q, PUSHLIST
024466,003406: 
024467,003407: 32,2366                                           BANK     32                                    
024468,003408: 32,2000                                           SETLOC   LRS22                                 
024469,003409: 32,2000                                           BANK                                           
024470,003410: 32,2366                                           COUNT*   $$/LRS22                              
024471,003411: 
024472,003412: 32,2366           04645        LRS22.1            TC       MAKECADR                              
024473,003413: 32,2367           55737                           TS       LRS22.1X                              
024474,003414: 32,2370           05516                           TC       DOWNFLAG                              
024475,003415: 32,2371           00120                           ADRES    RNGSCFLG                              
024476,003416: 32,2372           00004                           INHINT                                         
024477,003417: 32,2373           34751                           CAF      BIT3                                  
024478,003418: 32,2374           00006                           EXTEND                                         #  GET RR RANGE SCALE
024479,003419: 32,2375           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
024480,003420: 32,2376           54001                           TS       L                                     
024481,003421: 32,2377           44751                           CS       RRRSBIT                               
024482,003422: 32,2400           70110                           MASK     RADMODES                              
024483,003423: 32,2401           60001                           AD       L                                     
024484,003424: 32,2402           54110                           TS       RADMODES                              
024485,003425: 32,2403           00003                           RELINT                                         
024486,003426: 32,2404           04616        READRDOT           TC       BANKCALL                              
024487,003427: 32,2405           53112                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
024488,003428: 32,2406           04616                           TC       BANKCALL                              
024489,003429: 32,2407           17705                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
024490,003430: 32,2410           12543                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
024491,003431: 
024492,003432: 32,2411           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
024493,003433: 32,2412           53105                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
024494,003434: 32,2413           52162                           DXCH     MPAC       +5                         #  TEMP BUFFER FOR DOWNLINK
024495,003435: 32,2414           53101                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
024496,003436: 32,2415           53747                           DXCH     RDOTMSAV                              
024497,003437: 32,2416           00006                           EXTEND                                         
024498,003438: 32,2417           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
024499,003439: 32,2420           52160                           DXCH     MPAC       +3                         #  TEMP BUFFER FOR DOWNLINK
024500,003440: 32,2421           30032                           CA       CDUX                                  
024501,003441: 32,2422           54156                           TS       MPAC       +2                         #  TEMP BUFFER FOR DOWNLINK
024502,003442: 32,2423           00006                           EXTEND                                         
024503,003443: 32,2424           30025                           DCA      TIME2                                 #  SAVE TIME
024504,003444: 32,2425           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
024505,003445: 32,2426           00006                           EXTEND                                         
024506,003446: 32,2427           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024507,003447: 32,2430           53107                           DXCH     TANG                                  

Page 576

024509,003449: 32,2431           00003                           RELINT                                         
024510,003450: 32,2432           04616                           TC       BANKCALL                              
024511,003451: 32,2433           53114                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
024512,003452: 32,2434           04616                           TC       BANKCALL                              
024513,003453: 32,2435           17705                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
024514,003454: 32,2436           02537                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
024515,003455: 32,2437           00004                           INHINT                                         #  COPY CYCLE FOR MARK DATA ON DOWNLINK
024516,003456: 32,2440           00006                           EXTEND                                         
024517,003457: 32,2441           31331                           DCA      DNRRANGE                              #  RANGE, RANGE RATE (RAW DATA)
024518,003458: 32,2442           53761                           DXCH     RANGRDOT                              
024519,003459: 32,2443           52162                           DXCH     MPAC       +5                         
024520,003460: 32,2444           53755                           DXCH     MKTIME                                #  MARK TIME
024521,003461: 32,2445           52160                           DXCH     MPAC       +3                         
024522,003462: 32,2446           53460                           DXCH     AIG                                   #  CDUY, CDUZ
024523,003463: 32,2447           00006                           EXTEND                                         
024524,003464: 32,2450           31107                           DCA      TANG                                  #  PRESERVE TANG
024525,003465: 32,2451           53753                           DXCH     TANGNB                                #  TRUNNION AND SHAFT ANGLES
024526,003466: 32,2452           30156                           CA       MPAC       +2                         
024527,003467: 32,2453           55461                           TS       AOG                                   #  CDUX
024528,003468: 32,2454           06042                           TC       INTPRET                               
024529,003469: 32,2455           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
024530,003470: 32,2456           03747                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
024531,003471: 32,2457           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
024532,003472: 32,2460           20217                                    14D                                   #  FT./SECOND PER BIT
024533,003473: 32,2461           24002                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
024534,003474: 32,2462           03751                           STORE    RDOTM                                 
024535,003475: 32,2463           47135                           SLOAD    RTB                                   
024536,003476: 32,2464           01107                                    TANG                                  #  GET TRUNION ANGLE
024537,003477: 32,2465           21577                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
024538,003478: 32,2466           03734                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
024539,003479: 32,2467           47135                           SLOAD    RTB                                   
024540,003480: 32,2470           01110                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
024541,003481: 32,2471           21577                                    CDULOGIC                              
024542,003482: 32,2472           17736                           STODL    RRSHAFT                               
024543,003483: 32,2473           01101                                    SAMPLSUM                              
024544,003484: 32,2474           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
024545,003485: 32,2475           24004                                    RANGCONV                              #  PER BIT, END WITH METERS, SCALED -29
024546,003486: 32,2476           37757                           STCALL   RM                                    
024547,003487: 32,2477           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
024548,003488: 32,2500           17741                           STODL    RRBORSIT                              #  AND SAVE
024549,003489: 32,2501           00025                                    20D                                   
024550,003490: 32,2502           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
024551,003491: 32,2503           51256                                    LPS20.1                               
024552,003492: 32,2504           77776                           EXIT                                           
024553,003493: 32,2505           31457                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
024554,003494: 32,2506           54765                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
024555,003495: 32,2507           31460                           CA       AMG                                   
024556,003496: 32,2510           54767                           TS       CDUSPOT    +2                         
024557,003497: 32,2511           31461                           CA       AOG                                   
024558,003498: 32,2512           54771                           TS       CDUSPOT    +4                         

Page 577

024560,003500: 32,2513           06042                           TC       INTPRET                               
024561,003501: 32,2514           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
024562,003502: 32,2515           01101                                    RRTARGET                              
024563,003503: 32,2516           47653                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
024564,003504: 32,2517           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
024565,003505: 32,2520           03741                                    RRBORSIT                              
024566,003506: 32,2521           65552                           SL1      ACOS                                  #  BETWEEN THEM
024567,003507: 32,2522           01045                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
024568,003508: 32,2523           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
024569,003509: 32,2524           24547                                    THREEDEG                              
024570,003510: 32,2525           64532                                    NORMEXIT                              #  YES - NORMAL EXIT
024571,003511: 
024572,003512: 32,2526           77776                           EXIT                                           #  ERROR EXIT 2
024573,003513: 32,2527           34752                           CAF      BIT2                                  #  SET ERROR CODE
024574,003514: 32,2530           54154                           TS       MPAC                                  
024575,003515: 32,2531           12535                           TCF      OUT22.1                               
024576,003516: 
024577,003517: 32,2532           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT - SET MPAC EQUAL ZERO
024578,003518: 32,2533           34755                           CAF      ZERO                                  
024579,003519: 32,2534           54154                           TS       MPAC                                  
024580,003520: 32,2535           31737        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
024581,003521: 32,2536           04640                           TC       BANKJUMP                              
024582,003522: 32,2537           30101        CHEXERR            CAE      FLAGWRD5                              
024583,003523: 32,2540           74742                           MASK     RNGSCBIT                              
024584,003524: 32,2541           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
024585,003525: 32,2542           12404                           TCF      READRDOT                              #  YES - TAKE ANOTHER READING
024586,003526: 
024587,003527: 32,2543           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
024588,003528: 32,2544           54154                           TS       MPAC                                  
024589,003529: 32,2545           02535                           TC       OUT22.1                               
024590,003530: 32,2546           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES, SCALED REVS, B0
024591,003531: 
024592,003532: 32,2550     1100               RRLOSVEC           EQUALS   RRTARGET                              
024593,003533: 

Page 578

024595,003535:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024596,003536:                                                                                                  #  MOD. NO.: 1           BY: P VOLANTE  SDC              DATE   4-11-67
024597,003537: 
024598,003538:                                                                                                  #  FUNCTIONAL DESCRIPTION-
024599,003539:                                                                                                  #        2)  CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024600,003540: 
024601,003541:                                                                                                  #  CALLING SEQUENCE -  BANKCALL FOR LRS22.2
024602,003542: 
024603,003543:                                                                                                  #  SUBROUTINES CALLED:  G+N, AUTO   SETMAXDB
024604,003544: 
024605,003545:                                                                                                  #  NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024606,003546: 
024607,003547:                                                                                                  #  ERROR EXIT -  RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024608,003548: 
024609,003549:                                                                                                  #  ALARMS - NONE                                                 IN THE AUTO MODE
024610,003550: 
024611,003551:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
024612,003552:                                                                                                  #        RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024613,003553:                                                                                                  #        RM - RR RANGE, METERS B-29, FROM LRS22.1
024614,003554:                                                                                                  #        BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024615,003555: 
024616,003556:                                                                                                  #  DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024617,003557: 
024618,003558: 24,2000                                           SETLOC   P20S                                  
024619,003559: 24,2000                                           BANK                                           
024620,003560: 24,3334           04645        LRS22.2            TC       MAKECADR                              
024621,003561: 24,3335           55737                           TS       LRS22.1X                              
024622,003562: 24,3336           06042                           TC       INTPRET                               
024623,003563:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF 
024624,003564: 24,3337           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
024625,003565: 24,3340           03745                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
024626,003566:                                                                                                  #  LOS VECTOR, A HALF UNIT VECTOR
024627,003567:                                                                                                  #  IN NAV BASE AXES)
024628,003568: 24,3341           50025                           DSU      BMN                                   
024629,003569: 24,3342           11356                                    30DEG                                 
024630,003570: 24,3343           51350                                    OKEXIT                                #  NORMAL EXIT - WITHIN 30 DEG.
024631,003571: 24,3344           77776                           EXIT                                           #  ERROR EXIT - NOT WITHIN 30 DEG.
024632,003572: 24,3345           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
024633,003573: 24,3346           54154                           TS       MPAC                                  
024634,003574: 24,3347           13353                           TCF      OUT22.2                               
024635,003575: 24,3350           77776        OKEXIT             EXIT                                           #  NORMAL EXIT - SET MPAC = ZERO
024636,003576: 

Page 579

024638,003578: 24,3351           34755                           CAF      ZERO                                  
024639,003579: 24,3352           54154                           TS       MPAC                                  
024640,003580: 24,3353           31737        OUT22.2            CAE      LRS22.1X                              
024641,003581: 24,3354           04640                           TC       BANKJUMP                              
024642,003582: 
024643,003583: 24,3355           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES, SCALED REVS, B0
024644,003584: 

Page 580

024646,003586:                                                                                                  #  PROGRAM NAME - LSR22.3                                DATE - 29 MAY 1967
024647,003587:                                                                                                  #  MOD. NO 3                                             LOG SECTION - P20-25
024648,003588:                                                                                                  #  MOD. BY - DANFORTH                                    ASSEMBLY LEMP20S REV 10
024649,003589: 
024650,003590:                                                                                                  #  FUNCTIONAL DESCRIPTION
024651,003591:                                                                                                  #        THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024652,003592:                                                                                                  #        RADAR.  (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES).  THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024653,003593:                                                                                                  #        WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024654,003594: 
024655,003595:                                                                                                  #  CALLING SEQUENCE
024656,003596:                                                                                                  #        THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY.  THE ROUTINE IS ENTERED FROM
024657,003597:                                                                                                  #        R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA.  IF THE
024658,003598:                                                                                                  #        COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED.  THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024659,003599:                                                                                                  #        THE DEVIATIONS.  IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024660,003600:                                                                                                  #        DEVIATIONS INTO THE STATE VECTOR.  IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024661,003601:                                                                                                  #        PROCESSED FOR THIS MARK, I.E.,  R22LEM GETS THE NEXT MARK.
024662,003602: 
024663,003603:                                                                                                  #  SUBROUTINES CALLED
024664,003604:                                                                                                  #        WLINIT          LGCUPDTE        INTEGRV         INCORP1         ARCTAN
024665,003605:                                                                                                  #        GETULC          RARARANG        INCORP2         NBSM            INTSTALL
024666,003606: 
024667,003607:                                                                                                  #  OUTPUT
024668,003608:                                                                                                  #        CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024669,003609:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR
024670,003610:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024671,003611:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024672,003612:                                                                                                  #        UPDATED W-MATRIX
024673,003613: 
024674,003614:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
024675,003615:                                                                                                  #        LM AND CSM STATE VECTORS
024676,003616:                                                                                                  #        W-MATRIX
024677,003617:                                                                                                  #        MARK TIME IN MKTIME
024678,003618:                                                                                                  #        RADAR RANGE IN RM METERS B-29
024679,003619:                                                                                                  #                RANGE RATE IN RDOTM METERS/CSES B-7
024680,003620:                                                                                                  #                SHAFT ANGLE IN RRSHAFT REVS. B0
024681,003621:                                                                                                  #                TRUNNION ANGLE IN RRTRUN REVS. B0
024682,003622:                                                                                                  #        GIMBAL ANGLES   INNER IN AIG
024683,003623:                                                                                                  #                        MIDDLE IN AMG
024684,003624:                                                                                                  #                        OUTER IN AOG
024685,003625:                                                                                                  #        REFSMMAT
024686,003626:                                                                                                  #        RENDWFLG
024687,003627:                                                                                                  #        NOANGFLG
024688,003628:                                                                                                  #        VEHUPFLG
024689,003629: 
024690,003630:                                                                                                  #  DEBRIS
024691,003631:                                                                                                  #        PUSHLIST -- ALL
024692,003632:                                                                                                  #        MX, MY, MZ (VECTORS)

Page 581

024694,003634:                                                                                                  #        ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024695,003635: 
024696,003636: 13,2207                                           BANK     13                                    
024697,003637: 26,2000                                           SETLOC   P20S3                                 
024698,003638: 26,2000                                           BANK                                           
024699,003639: 
024700,003640: 26,2416  E7,1456                                  EBANK=   LOSCOUNT                              
024701,003641: 26,2416                                           COUNT*   $$/LSR22                              
024702,003642: 26,2416           77624        LSR22.3            CALL                                           
024703,003643: 26,2417           11210                                    GRP2PC                                
024704,003644: 26,2420           43014                           BON      SET                                   
024705,003645: 26,2421           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
024706,003646: 26,2422           55200                                    LSR22.4                               #  YES
024707,003647: 26,2423           02466                                    DMENFLG                               
024708,003648: 26,2424           45014                           BOFF     CALL                                  
024709,003649: 26,2425           00747                                    VEHUPFLG                              
024710,003650: 26,2426           54460                                    DOLEM                                 
024711,003651: 26,2427           27410                                    INTSTALL                              
024712,003652: 26,2430           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
024713,003653: 26,2431           01674                                    VINTFLAG                              
024714,003654: 26,2432           26643                                    SETIFLGS                              
024715,003655: 26,2433           77624                           CALL                                           
024716,003656: 26,2434           55242                                    INTGRCAL                              
024717,003657: 26,2435           77624                           CALL                                           
024718,003658: 26,2436           11210                                    GRP2PC                                
024719,003659: 26,2437           77624                           CALL                                           
024720,003660: 26,2440           27410                                    INTSTALL                              
024721,003661: 26,2441           43014                           CLEAR    BOFF                                  
024722,003662: 26,2442           01676                                    DIM0FLAG                              
024723,003663: 26,2443           02756                                    RENDWFLG                              
024724,003664: 26,2444           54450                                    NOTWCSM                               
024725,003665: 26,2445           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
024726,003666: 26,2446           01476                                    DIM0FLAG                              
024727,003667: 26,2447           01475                                    D6OR9FLG                              
024728,003668: 26,2450           43014        NOTWCSM            SET      CLEAR                                 
024729,003669: 26,2451           01474                                    VINTFLAG                              
024730,003670: 26,2452           01673                                    INTYPFLG                              
024731,003671: 26,2453           45014                           SET      CALL                                  
024732,003672: 26,2454           01472                                    STATEFLG                              
024733,003673: 26,2455           55242                                    INTGRCAL                              
024734,003674: 26,2456           77650                           GOTO                                           
024735,003675: 26,2457           54510                                    MARKTEST                              
024736,003676: 26,2460           77624        DOLEM              CALL                                           
024737,003677: 26,2461           27410                                    INTSTALL                              
024738,003678: 26,2462           45014                           SET      CALL                                  
024739,003679: 26,2463           01474                                    VINTFLAG                              
024740,003680: 26,2464           26643                                    SETIFLGS                              
024741,003681: 26,2465           77624                           CALL                                           
024742,003682: 26,2466           55242                                    INTGRCAL                              

Page 582

024744,003684: 26,2467           77624                           CALL                                           
024745,003685: 26,2470           11210                                    GRP2PC                                
024746,003686: 26,2471           77624                           CALL                                           
024747,003687: 26,2472           27410                                    INTSTALL                              
024748,003688: 26,2473           43014                           CLEAR    BOFF                                  
024749,003689: 26,2474           01676                                    DIM0FLAG                              
024750,003690: 26,2475           02756                                    RENDWFLG                              
024751,003691: 26,2476           54502                                    NOTWLEM                               
024752,003692: 26,2477           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
024753,003693: 26,2500           01476                                    DIM0FLAG                              
024754,003694: 26,2501           01475                                    D6OR9FLG                              
024755,003695: 26,2502           43014        NOTWLEM            CLEAR    CLEAR                                 
024756,003696: 26,2503           01673                                    INTYPFLG                              
024757,003697: 26,2504           01674                                    VINTFLAG                              
024758,003698: 26,2505           45014                           SET      CALL                                  
024759,003699: 26,2506           01472                                    STATEFLG                              
024760,003700: 26,2507           55242                                    INTGRCAL                              
024761,003701: 26,2510           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
024762,003702: 26,2511           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
024763,003703: 26,2512           54514                                    RANGEBQ                               
024764,003704: 26,2513           55251                                    WLINIT                                #  YES - REINITIALIZE
024765,003705: 26,2514           77414        RANGEBQ            BON      EXIT                                  #  DON'T CALL R65 IF ON SURFACE
024766,003706: 26,2515           04307                                    SURFFLAG                              
024767,003707: 26,2516           54524                                    RANGEBQ1                              
024768,003708: 26,2517           34755                           CA       ZERO                                  
024769,003709: 26,2520           55745                           TS       R65CNTR                               
024770,003710: 26,2521           04616                           TC       BANKCALL                              
024771,003711: 26,2522           46123                           CADR     R65LEM                                
024772,003712: 26,2523           06042                           TC       INTPRET                               
024773,003713: 26,2524           43174        RANGEBQ1           AXT,2    BON                                   #  CLEAR X2
024774,003714: 26,2525           00000                                    0                                     
024775,003715: 26,2526           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
024776,003716: 26,2527           54532                                    SETX2                                 #  YES.  STORE ZERO IN SCALSHFT REGISTER
024777,003717: 26,2530           77714                           INCR,2                                         
024778,003718: 26,2531           00002                                    2                                     
024779,003719: 26,2532           45134        SETX2              SXA,2    CALL                                  
024780,003720: 26,2533           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
024781,003721: 26,2534           11210                                    GRP2PC                                
024782,003722: 26,2535           66170                           AXT,1    SXA,1                                 #  STORE RANGE CODE (1) FOR R3 IN NOUN 49
024783,003723: 26,2536           00001                                    1                                     
024784,003724: 26,2537           01356                                    WHCHREAD                              
024785,003725: 26,2540           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
024786,003726: 26,2541           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION (B-40)
024787,003727: 26,2542           20635                                    28D                                   
024788,003728: 26,2543           77634                           RTB                                            
024789,003729: 26,2544           21634                                    TPMODE                                #  AND SAVE IN 20D
024790,003730: 26,2545           00025                           STORE    20D                                   
024791,003731: 26,2546           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS, DELTAQ
024792,003732: 26,2547           55333                                    GETULC                                #  B-VECTORS FOR RANGE
024793,003733: 26,2550           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED

Page 583

024795,003735: 26,2551           00707                                    VEHUPFLG                              
024796,003736: 26,2552           54553                                    +1                                    
024797,003737: 26,2553           27525                           STOVL    BVECTOR                               
024798,003738: 26,2554           06524                                    ZEROVECS                              
024799,003739: 26,2555           03533                           STORE    BVECTOR    +6                         #  B1
024800,003740: 26,2556           17541                           STODL    BVECTOR    +12D                       #  B2
024801,003741: 26,2557           00045                                    36D                                   
024802,003742: 26,2560           44257                           SRR*     BDSU                                  
024803,003743: 26,2561           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
024804,003744: 26,2562           03757                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
024805,003745: 26,2563           77657                           SLR*                                           
024806,003746: 26,2564           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
024807,003747: 26,2565           17547                           STODL    DELTAQ                                #  EARTH B-29.  MOON B-27
024808,003748: 26,2566           00045                                    36D                                   #  RLC B-29/B-27
024809,003749: 26,2567           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
024810,003750: 26,2570           00047                                    X1                                    
024811,003751: 26,2571           53605                           DMP      SR*                                   
024812,003752: 26,2572           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR (B12) THEN
024813,003753: 26,2573           20577                                    0          -2,1                       #  UNNORMALIZE
024814,003754: 26,2574           53657                           SR*      SR*                                   
024815,003755: 26,2575           20601                                    0,1                                   
024816,003756: 26,2576           57176                                    0,2                                   
024817,003757: 26,2577           47057                           SR*      RTB                                   
024818,003758: 26,2600           57176                                    0,2                                   
024819,003759: 26,2601           21634                                    TPMODE                                
024820,003760: 26,2602           02707                           STORE    VARIANCE                              #  B-40
024821,003761: 26,2603           76276                           DCOMP    TAD                                   
024822,003762: 26,2604           00025                                    20D                                   #  B-40
024823,003763: 26,2605           72240                           BMN      TLOAD                                 
024824,003764: 26,2606           54611                                    QOK                                   
024825,003765: 26,2607           00025                                    20D                                   #  B-40
024826,003766: 26,2610           02707                           STORE    VARIANCE                              
024827,003767: 26,2611           77624        QOK                CALL                                           
024828,003768: 26,2612           55401                                    LGCUPDTE                              
024829,003769: 
024830,003770: 26,2613           45131                           SSP      CALL                                  
024831,003771: 26,2614           01357                                    WHCHREAD                              
024832,003772: 26,2615           00002                           DEC      2          B-14                       #  STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024833,003773: 26,2616           11210                                    GRP2PC                                
024834,003774: 26,2617           77624                           CALL                                           #  B-VECTOR, DELTAQ FOR RANGE RATE
024835,003775: 26,2620           55333                                    GETULC                                
024836,003776: 26,2621           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
024837,003777: 26,2622           00045                                    36D                                   #  AND SHIFT TO B-23
024838,003778: 26,2623           57202                                    0          -4,2                       
024839,003779: 26,2624           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
024840,003780: 26,2625           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
024841,003781: 26,2626           00707                                    VEHUPFLG                              
024842,003782: 26,2627           54630                                    +1                                    
024843,003783: 26,2630           77761                           VXSC                                           
024844,003784: 26,2631           00045                                    36D                                   #  B1 = RLC (B-24/B-22)

Page 584

024846,003786: 26,2632           27533                           STOVL    BVECTOR    +6                         
024847,003787: 26,2633           01653                                    NUVLEM                                
024848,003788: 26,2634           53257                           VSR*     VAD                                   
024849,003789: 26,2635           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024850,003790: 26,2636           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
024851,003791: 26,2637           53715                           PDVL     VSR*                                  #  VL TO PD6
024852,003792: 26,2640           01601                                    NUVCSM                                
024853,003793: 26,2641           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024854,003794: 26,2642           52255                           VAD      VSU                                   
024855,003795: 26,2643           01615                                    VCVCSM                                
024856,003796: 26,2644           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
024857,003797: 26,2645           00001                                    0                                     
024858,003798: 26,2646           00007                                    6                                     
024859,003799: 26,2647           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
024860,003800: 26,2650           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
024861,003801: 26,2651           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
024862,003802: 26,2652           01773                                    RATEVAR                               
024863,003803: 26,2653           02707                           STORE    VARIANCE                              
024864,003804: 26,2654           54335                           SLOAD    SR                                    
024865,003805: 26,2655           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
024866,003806: 26,2656           20621                                    16D                                   #  SHIFT TO DP (B-4)
024867,003807: 26,2657           00031                           STORE    24D                                   #  AND SAVE IN 24D
024868,003808: 26,2660           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
024869,003809: 26,2661           02707                                    VARIANCE                              
024870,003810: 26,2662           54666                                    VOK                                   #  BRANCH - NO
024871,003811: 26,2663           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
024872,003812: 26,2664           00031                                    24D                                   
024873,003813: 26,2665           02707                           STORE    VARIANCE                              
024874,003814: 26,2666           60545        VOK                DLOAD    SR2                                   #  RDOT (PD12) FROM B-8/B-6
024875,003815: 26,2667           53725                           PDDL     SLR*                                  #  TO B-10/B-8
024876,003816: 26,2670           03751                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
024877,003817: 26,2671           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
024878,003818: 26,2672           77625                           DSU                                            
024879,003819: 26,2673           77675                           DMPR                                           
024880,003820: 26,2674           00045                                    36D                                   
024881,003821: 26,2675           27547                           STOVL    DELTAQ                                #  B-33
024882,003822: 26,2676           00001                                    0                                     #  NOW GET B0
024883,003823: 26,2677           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
024884,003824: 26,2700           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
024885,003825: 26,2701           00707                                    VEHUPFLG                              
024886,003826: 26,2702           54703                                    +1                                    
024887,003827: 26,2703           77657                           VSR*                                           
024888,003828: 26,2704           57200                                    0          -2,2                       #  SCALED B-5
024889,003829: 26,2705           27525                           STOVL    BVECTOR                               
024890,003830: 26,2706           06524                                    ZEROVECS                              
024891,003831: 26,2707           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
024892,003832: 26,2710           27541                           STOVL    BVECTOR    +12D                       
024893,003833: 26,2711           03525                                    BVECTOR                               
024894,003834: 26,2712           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
024895,003835: 26,2713           00025                                    20D                                   #  SHIFT COUNT IN 20D

Page 585

024897,003837: 26,2714           51575                           VLOAD    ABVAL                                 
024898,003838: 26,2715           03533                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
024899,003839: 26,2716           71301                           NORM     DLOAD                                 
024900,003840: 26,2717           00027                                    22D                                   #  SHIFT COUNT IN 22D
024901,003841: 26,2720           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
024902,003842: 26,2721           50025                           DSU      BMN                                   #  BRANCH - B0 HAS SMALLER SHIFT COUNT
024903,003843: 26,2722           00025                                    20D                                   
024904,003844: 26,2723           54727                                    VOK1                                  
024905,003845: 26,2724           52150                           LXA,1    GOTO                                  
024906,003846: 26,2725           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
024907,003847: 26,2726           54731                                    VOK2                                  
024908,003848: 26,2727           77750        VOK1               LXA,1                                          
024909,003849: 26,2730           00024                                    20D                                   
024910,003850: 26,2731           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024911,003851: 26,2732           03525                                    BVECTOR                               #  WITH THI SSHIFT COUNT
024912,003852: 26,2733           20201                                    0,1                                   
024913,003853: 26,2734           27525                           STOVL    BVECTOR                               
024914,003854: 26,2735           03533                                    BVECTOR    +6                         
024915,003855: 26,2736           77657                           VSL*                                           
024916,003856: 26,2737           20201                                    0,1                                   
024917,003857: 26,2740           17533                           STODL    BVECTOR    +6                         
024918,003858: 26,2741           03547                                    DELTAQ                                
024919,003859: 26,2742           77657                           SL*                                            
024920,003860: 26,2743           20201                                    0,1                                   
024921,003861: 26,2744           03547                           STORE    DELTAQ                                
024922,003862: 26,2745           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
024923,003863: 26,2746           00045                                    36D                                   
024924,003864: 26,2747           20200                                    0          -1,1                       
024925,003865: 26,2750           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
024926,003866: 26,2751           02707                                    VARIANCE                              
024927,003867: 26,2752           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024928,003868: 26,2753           21634                                    TPMODE                                
024929,003869: 26,2754           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
024930,003870: 26,2755           55401                                    LGCUPDTE                              
024931,003871: 
024932,003872: 26,2756           77624                           CALL                                           
024933,003873: 26,2757           11210                                    GRP2PC                                
024934,003874: 26,2760           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
024935,003875: 26,2761           04307                                    SURFFLAG                              
024936,003876: 26,2762           55176                                    RENDEND                               #  NO
024937,003877: 26,2763  E7,1457                                  EBANK=   AIG                                   
024938,003878: 26,2763           33332        MXMYMZ             CAF      AIGBANK                               
024939,003879: 26,2764           54006                           TS       BBANK                                 
024940,003880: 26,2765           31457                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
024941,003881: 26,2766           54765                           TS       CDUSPOT                               
024942,003882: 26,2767           31460                           CA       AMG                                   
024943,003883: 26,2770           54767                           TS       CDUSPOT    +2                         
024944,003884: 26,2771           31461                           CA       AOG                                   
024945,003885: 26,2772           54771                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024946,003886: 26,2773           06042                           TC       INTPRET                               

Page 586

024948,003888: 26,2774           45175                           VLOAD    CALL                                  
024949,003889: 26,2775           06522                                    UNITX                                 
024950,003890: 26,2776           47666                                    TRG*NBSM                              
024951,003891: 26,2777           76505                           VXM      VSL1                                  
024952,003892: 26,3000           01734                                    REFSMMAT                              
024953,003893: 26,3001           27677                           STOVL    MX                                    
024954,003894: 26,3002           06520                                    UNITY                                 
024955,003895: 26,3003           77624                           CALL                                           
024956,003896: 26,3004           47675                                    *NBSM*                                
024957,003897: 26,3005           76505                           VXM      VSL1                                  
024958,003898: 26,3006           01734                                    REFSMMAT                              
024959,003899: 26,3007           27705                           STOVL    MY                                    
024960,003900: 26,3010           06516                                    UNITZ                                 
024961,003901: 26,3011           77624                           CALL                                           
024962,003902: 26,3012           47675                                    *NBSM*                                
024963,003903: 26,3013           76505                           VXM      VSL1                                  
024964,003904: 26,3014           01734                                    REFSMMAT                              
024965,003905: 26,3015           37713        SHAFTBQ            STCALL   MZ                                    
024966,003906: 26,3016           55361                                    RADARANG                              
024967,003907: 26,3017           77331                           SSP      VLOAD                                 #  STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024968,003908: 26,3020           01357                                    WHCHREAD                              
024969,003909: 26,3021           00003                           DEC      3          B-14                       
024970,003910: 26,3022           03724                                    ULC                                   
024971,003911: 26,3023           72441                           DOT      SL1                                   
024972,003912: 26,3024           03677                                    MX                                    
024973,003913: 26,3025           24023                           STOVL    SINTH                                 #  18D
024974,003914: 26,3026           03724                                    ULC                                   
024975,003915: 26,3027           72441                           DOT      SL1                                   
024976,003916: 26,3030           03713                                    MZ                                    
024977,003917: 26,3031           34021                           STCALL   COSTH                                 #  16D
024978,003918: 26,3032           26506                                    ARCTAN                                
024979,003919: 26,3033           41221                           BDSU     DMP                                   
024980,003920: 26,3034           03736                                    RRSHAFT                               
024981,003921: 26,3035           15441                                    2PI/8                                 
024982,003922: 26,3036           41472                           SL3R     PUSH                                  
024983,003923: 26,3037           52545                           DLOAD    SL3                                   
024984,003924: 26,3040           01701                                    X789                                  
024985,003925: 26,3041           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
024986,003926: 26,3042           56176                                    0,2                                   
024987,003927: 26,3043           53605                           DMP      SRR*                                  
024988,003928: 26,3044           03722                                    RXZ                                   
024989,003929: 26,3045           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
024990,003930: 26,3046           27547                           STOVL    DELTAQ                                #  EARTH B-29.  MOON B-27
024991,003931: 26,3047           03724                                    ULC                                   
024992,003932: 26,3050           76435                           VXV      VSL1                                  
024993,003933: 26,3051           03705                                    MY                                    
024994,003934: 26,3052           77656                           UNIT                                           
024995,003935: 26,3053           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
024996,003936: 26,3054           00747                                    VEHUPFLG                              
024997,003937: 26,3055           55056                                    +1                                    

Page 587

024999,003939: 26,3056           27525                           STOVL    BVECTOR                               
025000,003940: 26,3057           06524                                    ZEROVECS                              
025001,003941: 26,3060           03533                           STORE    BVECTOR    +6                         
025002,003942: 26,3061           17541                           STODL    BVECTOR    +12D                       
025003,003943: 26,3062           03722                                    RXZ                                   
025004,003944: 26,3063           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025005,003945: 26,3064           20577                                    0          -2,1                       
025006,003946: 26,3065           56176                                    0,2                                   
025007,003947: 26,3066           03541                           STORE    BVECTOR    +12D                       
025008,003948: 26,3067           77735                           SLOAD                                          
025009,003949: 26,3070           02011                                    SHAFTVAR                              
025010,003950: 26,3071           41215                           DAD      DMP                                   
025011,003951: 26,3072           15436                                    IMUVAR                                #  RAD**2 B12
025012,003952: 26,3073           03722                                    RXZ                                   
025013,003953: 26,3074           41257                           SRR*     DMP                                   
025014,003954: 26,3075           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025015,003955: 26,3076           03722                                    RXZ                                   
025016,003956: 26,3077           53657                           SR*      SR*                                   
025017,003957: 26,3100           20577                                    0          -2,1                       
025018,003958: 26,3101           57176                                    0,2                                   
025019,003959: 26,3102           47057                           SR*      RTB                                   
025020,003960: 26,3103           57176                                    0,2                                   
025021,003961: 26,3104           21634                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025022,003962: 26,3105           36707                           STCALL   VARIANCE                              #  B-40
025023,003963: 26,3106           55401                                    LGCUPDTE                              
025024,003964: 
025025,003965: 26,3107           77624                           CALL                                           
025026,003966: 26,3110           11210                                    GRP2PC                                
025027,003967: 26,3111           77624        TRUNBQ             CALL                                           
025028,003968: 26,3112           55361                                    RADARANG                              
025029,003969: 26,3113           77331                           SSP      VLOAD                                 #  STORE TRUNNION CODE (4) FOR R3 IN N49
025030,003970: 26,3114           01357                                    WHCHREAD                              
025031,003971: 26,3115           00004                           DEC      4          B-14                       
025032,003972: 26,3116           03724                                    ULC                                   
025033,003973: 26,3117           76435                           VXV      VSL1                                  
025034,003974: 26,3120           03705                                    MY                                    
025035,003975: 26,3121           76435                           VXV      VSL1                                  #  (ULC X MY) X ULC
025036,003976: 26,3122           03724                                    ULC                                   
025037,003977: 26,3123           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025038,003978: 26,3124           00747                                    VEHUPFLG                              
025039,003979: 26,3125           55126                                    +1                                    
025040,003980: 26,3126           27525                           STOVL    BVECTOR                               
025041,003981: 26,3127           06524                                    ZEROVECS                              
025042,003982: 26,3130           03533                           STORE    BVECTOR    +6                         
025043,003983: 26,3131           17541                           STODL    BVECTOR    +12D                       
025044,003984: 26,3132           03722                                    RXZ                                   
025045,003985: 26,3133           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025046,003986: 26,3134           20577                                    0          -2,1                       
025047,003987: 26,3135           56176                                    0,2                                   
025048,003988: 26,3136           03543                           STORE    BVECTOR    +14D                       

Page 588

025050,003990: 26,3137           77735                           SLOAD                                          
025051,003991: 26,3140           02012                                    TRUNVAR                               
025052,003992: 26,3141           41215                           DAD      DMP                                   
025053,003993: 26,3142           15436                                    IMUVAR                                
025054,003994: 26,3143           03722                                    RXZ                                   
025055,003995: 26,3144           41257                           SRR*     DMP                                   
025056,003996: 26,3145           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025057,003997: 26,3146           03722                                    RXZ                                   
025058,003998: 26,3147           53657                           SR*      SR*                                   
025059,003999: 26,3150           20577                                    0          -2,1                       
025060,004000: 26,3151           57176                                    0,2                                   
025061,004001: 26,3152           47057                           SR*      RTB                                   
025062,004002: 26,3153           57176                                    0,2                                   
025063,004003: 26,3154           21634                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025064,004004: 26,3155           16707                           STODL    VARIANCE                              
025065,004005: 26,3156           03732                                    SINTHETA                              
025066,004006: 26,3157           44336                           ASIN     BDSU                                  #  SIN THETA IN PD6
025067,004007: 26,3160           03734                                    RRTRUN                                
025068,004008: 26,3161           56405                           DMP      SL3R                                  
025069,004009: 26,3162           15441                                    2PI/8                                 
025070,004010: 26,3163           52525                           PDDL     SL3                                   
025071,004011: 26,3164           01703                                    X789       +2                         
025072,004012: 26,3165           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025073,004013: 26,3166           56176                                    0,2                                   
025074,004014: 26,3167           53605                           DMP      SRR*                                  
025075,004015: 26,3170           03722                                    RXZ                                   
025076,004016: 26,3171           21601                                    0,1                                   
025077,004017: 26,3172           37547                           STCALL   DELTAQ                                #  EARTH B-29.  MOON B-27
025078,004018: 26,3173           55401                                    LGCUPDTE                              
025079,004019: 26,3174           77624                           CALL                                           
025080,004020: 26,3175           11210                                    GRP2PC                                
025081,004021: 26,3176           77650        RENDEND            GOTO                                           
025082,004022: 26,3177           50562                                    R22LEM93                              
025083,004023: 
025084,004024:                                                                                                  #  FUNCTIONAL DESCRIPTION
025085,004025:                                                                                                  #        LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025086,004026:                                                                                                  #        COMPUTER ONLY.  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025087,004027:                                                                                                  #        AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025088,004028: 
025089,004029:                                                                                                  #  SUBROUTINES CALLED
025090,004030:                                                                                                  #        INSTALL         LGCUPDTE        INCORP1         RP-TO-R
025091,004031:                                                                                                  #        INTEGRV         GETULC          INCORP2
025092,004032: 
025093,004033:                                                                                                  #  OUTPUT
025094,004034:                                                                                                  #        CORRECTED CSM STATE VECTOR (PERMANENT)
025095,004035:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR
025096,004036:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025097,004037:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025098,004038:                                                                                                  #        UPDATED W-MATRIX

Page 589

025100,004040: 
025101,004041:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025102,004042:                                                                                                  #        LM AND CSM STATE VECTORS
025103,004043:                                                                                                  #        W-MATRIX
025104,004044:                                                                                                  #        MARK TIME IN MKTIME
025105,004045:                                                                                                  #        RADAR RANGE IN RM METERS B-29
025106,004046:                                                                                                  #        RANGE RATE IN RDOTM METERS/CSEC B-7
025107,004047:                                                                                                  #        VEHUPFLG
025108,004048: 
025109,004049: 26,3200           77624        LSR22.4            CALL                                           
025110,004050: 26,3201           27410                                    INTSTALL                              
025111,004051: 26,3202           43014                           SET      CLEAR                                 
025112,004052: 26,3203           01472                                    STATEFLG                              
025113,004053: 26,3204           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
025114,004054: 26,3205           77624                           CALL                                           
025115,004055: 26,3206           55242                                    INTGRCAL                              
025116,004056: 26,3207           77624                           CALL                                           
025117,004057: 26,3210           11210                                    GRP2PC                                
025118,004058: 26,3211           45014                           CLEAR    CALL                                  
025119,004059: 26,3212           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
025120,004060: 26,3213           27410                                    INTSTALL                              
025121,004061: 26,3214           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
025122,004062: 26,3215           03463                                    MARKCTR                               
025123,004063: 26,3216           55231                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
025124,004064: 26,3217           43014                           CLEAR    SET                                   
025125,004065: 26,3220           01675                                    D6OR9FLG                              
025126,004066: 26,3221           01476                                    DIM0FLAG                              
025127,004067: 26,3222           43014                           SET      CLEAR                                 
025128,004068: 26,3223           01474                                    VINTFLAG                              
025129,004069: 26,3224           01673                                    INTYPFLG                              
025130,004070: 26,3225           77624                           CALL                                           
025131,004071: 26,3226           55242                                    INTGRCAL                              
025132,004072: 26,3227           77650                           GOTO                                           
025133,004073: 26,3230           54514                                    RANGEBQ                               
025134,004074: 
025135,004075: 26,3231           77624        INITWMX6           CALL                                           
025136,004076: 26,3232           55251                                    WLINIT                                #  INITIALIZE W-MATRIX
025137,004077: 26,3233           45014                           SET      CALL                                  
025138,004078: 26,3234           01474                                    VINTFLAG                              
025139,004079: 26,3235           26643                                    SETIFLGS                              
025140,004080: 26,3236           77624                           CALL                                           
025141,004081: 26,3237           55242                                    INTGRCAL                              
025142,004082: 26,3240           77650                           GOTO                                           
025143,004083: 26,3241           54514                                    RANGEBQ                               
025144,004084: 
025145,004085:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025146,004086: 
025147,004087: 26,3242           71220        INTGRCAL           STQ      DLOAD                                 
025148,004088: 26,3243           03675                                    IGRET                                 
025149,004089: 26,3244           03755                                    MKTIME                                

Page 590

025151,004091: 26,3245           34041                           STCALL   TDEC1                                 
025152,004092: 26,3246           27133                                    INTEGRV                               
025153,004093: 26,3247           77650                           GOTO                                           
025154,004094: 26,3250           03675                                    IGRET                                 
025155,004095: 
025156,004096:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025157,004097:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025158,004098: 
025159,004099: 26,3251  E5,1400                                  EBANK=   W                                     
025160,004100: 26,3251           77776        WLINIT             EXIT                                           
025161,004101: 26,3252           33331                           CAF      WBANK                                 
025162,004102: 26,3253           54006                           TS       BBANK                                 
025163,004103: 26,3254           33437                           CAF      WSIZE                                 
025164,004104: 26,3255           55256                           TS       W.IND                                 
025165,004105: 26,3256           34755                           CAF      ZERO                                  
025166,004106: 
025167,004107: 26,3257           51256                           INDEX    W.IND                                 
025168,004108: 26,3260           55400                           TS       W                                     
025169,004109: 26,3261           11256                           CCS      W.IND                                 
025170,004110: 26,3262           03255                           TC       -5                                    
025171,004111: 26,3263           33332                           CAF      AIGBANK                               #  RESTORE EBANK 7
025172,004112: 26,3264           54006                           TS       BBANK                                 
025173,004113: 26,3265           06042                           TC       INTPRET                               
025174,004114: 26,3266           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE, INITIALIZE WITH 
025175,004115: 26,3267           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
025176,004116: 26,3270           55274                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
025177,004117: 26,3271           02001                                    WRENDPOS                              
025178,004118: 26,3272           77650                           GOTO                                           
025179,004119: 26,3273           55276                                    WPOSTORE                              
025180,004120: 26,3274           77735        WLSRFPOS           SLOAD                                          
025181,004121: 26,3275           02007                                    WSURFPOS                              
025182,004122: 26,3276           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
025183,004123: 26,3277           20606                                    5                                     
025184,004124: 26,3300           02401                           STORE    W                                     
025185,004125: 26,3301           02411                           STORE    W          +8D                        
025186,004126: 26,3302           02421                           STORE    W          +16D                       
025187,004127: 26,3303           67214                           BON      SLOAD                                 
025188,004128: 26,3304           04307                                    SURFFLAG                              
025189,004129: 26,3305           55311                                    WLSRFVEL                              
025190,004130: 26,3306           02002                                    WRENDVEL                              
025191,004131: 26,3307           77650                           GOTO                                           
025192,004132: 26,3310           55313                                    WVELSTOR                              
025193,004133: 26,3311           77735        WLSRFVEL           SLOAD                                          
025194,004134: 26,3312           02010                                    WSURFVEL                              
025195,004135: 26,3313           02511        WVELSTOR           STORE    W          +72D                       
025196,004136: 26,3314           02521                           STORE    W          +80D                       
025197,004137: 26,3315           02531                           STORE    W          +88D                       
025198,004138: 26,3316           77735                           SLOAD                                          
025199,004139: 26,3317           02003                                    WSHAFT                                
025200,004140: 26,3320           02621                           STORE    W          +144D                      
025201,004141: 26,3321           77735                           SLOAD                                          

Page 591

025203,004143: 26,3322           02004                                    WTRUN                                 
025204,004144: 26,3323           02631                           STORE    W          +152D                      
025205,004145: 26,3324           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
025206,004146: 26,3325           02476                                    RENDWFLG                              
025207,004147: 26,3326           03463                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
025208,004148: 26,3327           00000                                    0                                     
025209,004149: 26,3330           77616                           RVQ                                            
025210,004150: 
025211,004151: 26,3331  E5,1400                                  EBANK=   W                                     
025212,004152: 26,3331           54065        WBANK              BBCON    WLINIT                                
025213,004153: 26,3332  E7,1457                                  EBANK=   AIG                                   
025214,004154: 26,3332           54067        AIGBANK            BBCON    LSR22.3                               
025215,004155: 
025216,004156:                                                                                                  #  GETULC
025217,004157: 
025218,004158:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025219,004159:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025220,004160:                                                                                                  #  MAGNITUDE IN 36D.
025221,004161: 
025222,004162: 26,3333           77201        GETULC             SETPD    VLOAD                                 
025223,004163: 26,3334           00001                                    0                                     
025224,004164: 26,3335           01645                                    DELTALEM                              
025225,004165: 26,3336           77754                           LXA,2                                          
025226,004166: 26,3337           03720                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
025227,004167: 26,3340           53257                           VSR*     VAD                                   
025228,004168: 26,3341           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025229,004169: 26,3342           01661                                    RCVLEM                                
025230,004170: 26,3343           53715                           PDVL     VSR*                                  
025231,004171: 26,3344           01573                                    DELTACSM                              
025232,004172: 26,3345           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025233,004173: 26,3346           52255                           VAD      VSU                                   
025234,004174: 26,3347           01607                                    RCVCSM                                
025235,004175: 26,3350           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
025236,004176: 26,3351           21725                                    NORMUNX1                              
025237,004177: 26,3352           17724                           STODL    ULC                                   
025238,004178: 26,3353           00045                                    36D                                   
025239,004179: 26,3354           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
025240,004180: 26,3355           20201                                    0,1                                   
025241,004181: 26,3356           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
025242,004182: 26,3357           03724                                    ULC                                   
025243,004183: 26,3360           77616                           RVQ                                            
025244,004184: 
025245,004185:                                                                                                  #  RADARANG
025246,004186: 
025247,004187:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025248,004188:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
025249,004189:                                                                                                  #  OUTPUT
025250,004190:                                                                                                  #        ULC IN ULC, PD0
025251,004191:                                                                                                  #        RLC IN PD36D
025252,004192:                                                                                                  #        SIN THETA IN SINTHETA AND PD6
025253,004193:                                                                                                  #        RXZ NORM IN RXZ (N IN X1)

Page 592

025255,004195: 
025256,004196: 26,3361           45020        RADARANG           STQ      CALL                                  
025257,004197: 26,3362           03675                                    RDRET                                 
025258,004198: 26,3363           55333                                    GETULC                                
025259,004199: 26,3364           50276                           VCOMP    DOT                                   
025260,004200: 26,3365           03705                                    MY                                    
025261,004201: 26,3366           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
025262,004202: 26,3367           03732                           STORE    SINTHETA                              
025263,004203: 26,3370           44316                           DSQ      BDSU                                  
025264,004204: 26,3371           06514                                    DP1/4TH                               #  1-(SIN THETA)**2
025265,004205: 26,3372           41366                           SQRT     DMP                                   
025266,004206: 26,3373           00045                                    36D                                   
025267,004207: 26,3374           60352                           SL1      NORM                                  
025268,004208: 26,3375           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
025269,004209: 26,3376           03722                           STORE    RXZ                                   
025270,004210: 26,3377           77650                           GOTO                                           #  EXIT
025271,004211: 26,3400           03675                                    RDRET                                 
025272,004212: 26,3401           45020        LGCUPDTE           STQ      CALL                                  
025273,004213: 26,3402           03675                                    LGRET                                 
025274,004214: 26,3403           46533                                    INCORP1                               
025275,004215: 26,3404           51575                           VLOAD    ABVAL                                 
025276,004216: 26,3405           02673                                    DELTAX     +6                         
025277,004217: 26,3406           53754                           LXA,2    SRR*                                  
025278,004218: 26,3407           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
025279,004219: 26,3410           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
025280,004220: 26,3411           24317                           STOVL    R22DISP    +2                         
025281,004221: 26,3412           02665                                    DELTAX                                
025282,004222: 26,3413           53646                           ABVAL    SRR*                                  
025283,004223: 26,3414           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
025284,004224: 26,3415           00315                           STORE    R22DISP                               
025285,004225: 26,3416           54335                           SLOAD    SR                                    
025286,004226: 26,3417           02005                                    RMAX                                  
025287,004227: 26,3420           20613                                    10D                                   
025288,004228: 26,3421           50025                           DSU      BMN                                   
025289,004229: 26,3422           00315                                    R22DISP                               
025290,004230: 26,3423           50566                                    R22LEM96                              #  GO DISPLAY
025291,004231: 26,3424           45335                           SLOAD    DSU                                   
025292,004232: 26,3425           02006                                    VMAX                                  
025293,004233: 26,3426           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
025294,004234: 26,3427           77640                           BMN                                            
025295,004235: 26,3430           50566                                    R22LEM96                              #  GO DISPLAY
025296,004236: 26,3431           77624        ASTOK              CALL                                           
025297,004237: 26,3432           46745                                    INCORP2                               
025298,004238: 26,3433           77650                           GOTO                                           
025299,004239: 26,3434           03675                                    LGRET                                 
025300,004240: 26,3435           00103 03370  IMUVAR             2DEC     1          E-6        B12             #  RAD**2
025301,004241: 
025302,004242: 26,3437           00241        WSIZE              DEC      161        B-14                       
025303,004243: 26,3440           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
025304,004244: 
025305,004245: 26,3442  E7,1456                                  EBANK=   LOSCOUNT                              
025306,004246: 

Page 593

025308,004248:                                                                                                  #  PROGRAM NAME LRS24.1          RR SEARCH ROUTINE
025309,004249:                                                                                                  #  MOD NO  0                     BY P VOLANTE  SDC               DATE 1-15-67
025310,004250: 
025311,004251:                                                                                                  #  FUNCTIONAL DESCRIPTION
025312,004252: 
025313,004253:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025314,004254:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025315,004255:                                                                                                  #  LM +Z AXIS.  IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025316,004256:                                                                                                  #  ATTITUDE MANEUVER.
025317,004257: 
025318,004258:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
025319,004259: 
025320,004260:                                                                                                  #  SUBROUTINES CALLED
025321,004261: 
025322,004262:                                                                                                  #        LEMCONIC        R61LEM
025323,004263:                                                                                                  #        CSMCONIC        RRDESSM
025324,004264:                                                                                                  #        JOBDELAY        FLAGDOWN
025325,004265:                                                                                                  #        WAITLIST        FLAGUP
025326,004266:                                                                                                  #        RRNB            BANKCALL
025327,004267: 
025328,004268:                                                                                                  #  EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025329,004269: 
025330,004270:                                                                                                  #  OUTPUT
025331,004271: 
025332,004272:                                                                                                  #        DATAGOOD (SP) - FOR DISPLAY IN R1 -     00000 INDICATES NO LOCKON
025333,004273:                                                                                                  #                                                11111 INDICATES LOCKON ACHIEVED
025334,004274:                                                                                                  #        OMEGAD (SP)   - FOR DISPLAY IN R2 -     ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025335,004275: 
025336,004276:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025337,004277: 
025338,004278:                                                                                                  #        SEARCH FLAG MUST BE SET
025339,004279:                                                                                                  #        LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025340,004280: 
025341,004281:                                                                                                  #  DEBRIS
025342,004282: 
025343,004283:                                                                                                  #        RLMSRCH         UXVECT
025344,004284:                                                                                                  #        VXRLM           UYVECT
025345,004285:                                                                                                  #        LOSDESRD        NSRCHPNT
025346,004286:                                                                                                  #        DATAGOOD        OMEGAD
025347,004287:                                                                                                  #        MPAC            PUSHLIST
025348,004288: 
025349,004289: 26,3442                                           COUNT*   $$/LRS24                              
025350,004290: 26,3442           34755        LRS24.1            CAF      ZERO                                  
025351,004291: 26,3443           55736                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
025352,004292: 26,3444           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
025353,004293: 26,3445           00006                           EXTEND                                         

Page 594

025355,004295: 26,3446           05012                           WOR      CHAN12                                
025356,004296: 26,3447           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
025357,004297: 26,3450           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
025358,004298: 26,3451           00006                           EXTEND                                         
025359,004299: 26,3452           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
025360,004300: 
025361,004301: 26,3453           33713                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025362,004302: 26,3454           00004                           INHINT                                         
025363,004303: 26,3455           05203                           TC       WAITLIST                              #  IN 6 SECONDS
025364,004304: 26,3456  E7,1456                                  EBANK=   LOSCOUNT                              
025365,004305: 26,3456           03643 54067                     2CADR    CALLDGCH                              
025366,004306: 
025367,004307: 26,3460           00003                           RELINT                                         
025368,004308: 26,3461           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
025369,004309: 26,3462           74736                           MASK     REMODBIT                              
025370,004310: 26,3463           00006                           EXTEND                                         
025371,004311: 26,3464           15155                           BZF      ENDOFJOB                              #  YES - WAIT SIX SECONDS
025372,004312: 26,3465           06042                           TC       INTPRET                               
025373,004313: 
025374,004314: 26,3466           43234                           RTB      DAD                                   #  COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025375,004315: 26,3467           21574                                    LOADTIME                              
025376,004316: 26,3470           15715                                    1.5SECS                               
025377,004317: 26,3471           34041        LRS24.11           STCALL   TDEC1                                 
025378,004318: 26,3472           27077                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
025379,004319: 26,3473           77775                           VLOAD                                          
025380,004320: 26,3474           00001                                    RATT                                  
025381,004321: 26,3475           27676                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
025382,004322: 26,3476           00007                                    VATT                                  
025383,004323: 26,3477           17740                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
025384,004324: 26,3500           00015                                    TAT                                   
025385,004325: 26,3501           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
025386,004326: 26,3502           27065                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
025387,004327: 26,3503           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM) - R(LM)
025388,004328: 26,3504           00001                                    RATT                                  
025389,004329: 26,3505           03676                                    RLMSRCH                               
025390,004330: 26,3506           77656                           UNIT                                           
025391,004331: 26,3507           27712                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
025392,004332: 26,3510           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
025393,004333: 26,3511           47256                           UNIT     VXV                                   
025394,004334: 26,3512           00001                                    RATT                                  
025395,004335: 26,3513           77656                           UNIT                                           
025396,004336: 26,3514           03704                           STORE    VXRCM                                 
025397,004337: 26,3515           52375                           VLOAD    VSU                                   
025398,004338: 26,3516           00007                                    VATT                                  
025399,004339: 26,3517           03740                                    SAVLEMV                               
025400,004340: 26,3520           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
025401,004341: 26,3521           01734                                    REFSMMAT                              
025402,004342: 26,3522           03740                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
025403,004343: 26,3523           53135                           SLOAD    BZE                                   #  CHECK IF N=0

Page 595

025405,004345: 26,3524           03737                                    NSRCHPNT                              
025406,004346: 26,3525           55636                                    DESGLOS                               #  YES - DESIGNATE ALONG LOS
025407,004347: 26,3526           53025                           DSU      BZE                                   #  IS N=1
025408,004348: 26,3527           15711                                    ONEOCT                                #  YES - CALCULATE X AND Y AXES OF
025409,004349: 26,3530           55623                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
025410,004350: 26,3531           77775                           VLOAD                                          #  NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025411,004351: 26,3532           03720                                    UXVECT                                
025412,004352: 26,3533           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
025413,004353: 26,3534           03726                                    UYVECT                                #  UXPRIME = ORIGINAL UX
025414,004354: 26,3535           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
025415,004355: 26,3536           77761                           VXSC                                           
025416,004356: 26,3537           15705                                    SIN60DEG                              #  UX = (COS 60) UXPR + (SIN 60) UYPR
025417,004357: 26,3540           27720                           STOVL    UXVECT                                
025418,004358: 26,3541           00015                                    UXVECTPR                              
025419,004359: 26,3542           53361                           VXSC     VAD                                   
025420,004360: 26,3543           06522                                    COS60DEG                              
025421,004361: 26,3544           03720                                    UXVECT                                
025422,004362: 26,3545           77656                           UNIT                                           
025423,004363: 26,3546           27720                           STOVL    UXVECT                                
025424,004364: 26,3547           00015                                    UXVECTPR                              #  UY = (-SIN 60) UXPR + (COS 60) UYPR
025425,004365: 26,3550           77761                           VXSC                                           
025426,004366: 26,3551           15705                                    SIN60DEG                              
025427,004367: 26,3552           27726                           STOVL    UYVECT                                
025428,004368: 26,3553           00023                                    UYVECTPR                              
025429,004369: 26,3554           52361                           VXSC     VSU                                   
025430,004370: 26,3555           06522                                    COS60DEG                              
025431,004371: 26,3556           03726                                    UYVECT                                
025432,004372: 26,3557           77656                           UNIT                                           
025433,004373: 26,3560           03726                           STORE    UYVECT                                
025434,004374: 26,3561           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
025435,004375: 26,3562           15707                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
025436,004376: 26,3563           03712                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
025437,004377: 26,3564           64256                           UNIT     MXV                                   
025438,004378: 26,3565           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
025439,004379: 26,3566           77772                           VSL1                                           
025440,004380: 26,3567           25101        CONTDESG           STOVL    RRTARGET                              
025441,004381: 26,3570           03740                                    SAVLEMV                               
025442,004382: 26,3571           01761                           STORE    LOSVEL                                
025443,004383: 26,3572           77776                           EXIT                                           
025444,004384: 26,3573           00004                           INHINT                                         
025445,004385: 26,3574           06032                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
025446,004386: 26,3575           52613                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
025447,004387:                                                                                                  #  POINT IN THE PATTERN
025448,004388: 26,3576           44735        CONTDES2           CS       CDESBIT                               
025449,004389: 26,3577           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
025450,004390: 26,3600           64735                           AD       CDESBIT                               #  A CONTINUOUS DESIGNATE WANTED.
025451,004391: 26,3601           54110                           TS       RADMODES                              
025452,004392: 26,3602           06042                           TC       INTPRET                               
025453,004393: 
025454,004394: 26,3603           77624                           CALL                                           

Page 596

025456,004396: 26,3604           52404                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
025457,004397: 
025458,004398: 26,3605           77776                           EXIT                                           
025459,004399: 26,3606           03675                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
025460,004400: 26,3607           03675                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
025461,004401: 
025462,004402:                                                                                                  #  COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025463,004403:                                                                                                  #  SPACECRAFT +Z AXIS
025464,004404: 26,3610           00006        OMEGCALC           EXTEND                                         
025465,004405: 26,3611           30036                           DCA      CDUT                                  
025466,004406: 26,3612           53753                           DXCH     TANGNB                                
025467,004407: 26,3613           06042                           TC       INTPRET                               
025468,004408: 26,3614           77624                           CALL                                           
025469,004409: 26,3615           46041                                    RRNB                                  
025470,004410: 26,3616           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025471,004411: 26,3617           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025472,004412: 26,3620           03735                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
025473,004413: 26,3621           77776                           EXIT                                           
025474,004414: 26,3622           05155                           TC       ENDOFJOB                              

Page 597

025476,004416:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025477,004417: 
025478,004418: 26,3623           47375        CALCXY             VLOAD    VXV                                   
025479,004419: 26,3624           03704                                    VXRCM                                 
025480,004420: 26,3625           03712                                    LOSDESRD                              
025481,004421: 26,3626           77656                           UNIT                                           
025482,004422: 26,3627           27720                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
025483,004423: 26,3630           03712                                    LOSDESRD                              
025484,004424: 26,3631           53435                           VXV      UNIT                                  
025485,004425: 26,3632           03720                                    UXVECT                                
025486,004426: 26,3633           03726                           STORE    UYVECT                                #  UY = LOS X UX
025487,004427: 26,3634           77650                           GOTO                                           
025488,004428: 26,3635           55561                                    OFFCALC                               
025489,004429: 
025490,004430: 26,3636           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
025491,004431: 26,3637           03712                                    LOSDESRD                              
025492,004432: 26,3640           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
025493,004433: 26,3641           52172                           VSL1     GOTO                                  
025494,004434: 26,3642           55567                                    CONTDESG                              
025495,004435: 
025496,004436: 26,3643           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
025497,004437: 26,3644           74745                           MASK     RNDVZBIT                              
025498,004438: 26,3645           00006                           EXTEND                                         
025499,004439: 26,3646           15261                           BZF      TASKOVER                              #  NO - EXIT R24
025500,004440: 26,3647           37716                           CAF      PRIO25                                #  YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025501,004441: 26,3650           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
025502,004442: 26,3651  E7,1675                                  EBANK=   RLMSRCH                               
025503,004443: 26,3651           03654 54067                     2CADR    DATGDCHK                              
025504,004444: 
025505,004445: 26,3653           05261                           TC       TASKOVER                              
025506,004446: 
025507,004447: 26,3654           34750        DATGDCHK           CAF      BIT4                                  
025508,004448: 26,3655           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
025509,004449: 26,3656           02033                           RAND     CHAN33                                
025510,004450: 26,3657           00006                           EXTEND                                         
025511,004451: 26,3660           13667                           BZF      STORE1S                               #  YES - GO TO STORE 11111 FOR DISPLAY IN R1
025512,004452: 26,3661           46245                           CS       SIX                                   
025513,004453: 26,3662           61736                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
025514,004454: 26,3663           00006                           EXTEND                                         
025515,004455: 26,3664           13442                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
025516,004456: 26,3665           25736                           INCR     NSRCHPNT                              #  NO - SET N = N+1 AN GO TO
025517,004457: 26,3666           13444                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
025518,004458: 
025519,004459: 26,3667           33703        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
025520,004460: 26,3670           55733                           TS       DATAGOOD                              

Page 598

025522,004462: 26,3671           00004                           INHINT                                         
025523,004463: 26,3672           06032                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
025524,004464: 26,3673           52613                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
025525,004465: 26,3674           05155                           TC       ENDOFJOB                              
025526,004466: 
025527,004467: 26,3675           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527 - LOS NOT IN MODE2
025528,004468: 26,3676           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
025529,004469: 26,3677           00004                           INHINT                                         #  REQUIRED IN P20
025530,004470: 26,3700           06032                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
025531,004471: 26,3701           55643                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
025532,004472: 26,3702           05155                           TC       ENDOFJOB                              
025533,004473: 
025534,004474: 26,3703           25547        ALL1S              DEC      11111      B-14                       
025535,004475: 26,3704           33555 01106  SIN60DEG           2DEC     .86603                                
025536,004476: 26,3706  23,2521               COS60DEG           =        DPHALF                                #  (2DEC .50)
025537,004477: 26,3706                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
025538,004478: 26,3706                        UYVECTPR           EQUALS   18D                                   
025539,004479: 26,3706                        RLMUNIT            EQUALS   12D                                   
025540,004480: 26,3706           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
025541,004481: 26,3710           00001        ONEOCT             OCT      00001                                 #  **** NOTE - THESE TWO CONSTANTS MUST ****
025542,004482: 26,3711           00000 00454  3SECONDS           2DEC     300        B-28                       #  **** BE IN THIS ORDER BECAUSE         ****
025543,004483:                                                                                                  #  **** ONEOCT NEEDS A LOWER ORDER       ****
025544,004484:                                                                                                  #  **** WORD OF ZEROES                   ****
025545,004485: 26,3713           01130        6SECONDS           DEC      600        B-14                       
025546,004486: 26,3714           00000 00226  1.5SECS            2DEC     150        B-28                       
025547,004487: 
025548,004488: 26,3716  23,2523               ZERO/SP            EQUALS   HI6ZEROS                              
025549,004489: 
025550,004490:    4616                                           BLOCK    02                                    
025551,004491:    6000                                           SETLOC   FFTAG5                                
025552,004492:    6000                                           BANK                                           
025553,004493:    6025                                           COUNT*   $$/P20                                
025554,004494:    6025           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
025555,004495:    6026           36031                           DCA      VB56CADR                              #  GOTOPOOH
025556,004496:    6027           15165                           TCF      SUPDXCHZ                              
025557,004497:    6030  E7,1471                                  EBANK=   WHOCARES                              
025558,004498:    6030           03045 66107  VB56CADR           2CADR    TRMTRACK                              
025559,004499: 

Page 599

025561,004501:                                                                                                  #  PROGRAM NAME: R29     (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025562,004502:                                                                                                  #  MOD NO. 2     BY H. BLAIR-SMITH       JULY 2, 1968.
025563,004503: 
025564,004504:                                                                                                  #  FUNCTIONAL DESCRIPTION:
025565,004505: 
025566,004506:                                                                                                  #        DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025567,004507:                                                                                                  #        AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
025568,004508:                                                                                                  #        THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
025569,004509:                                                                                                  #        THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025570,004510:                                                                                                  #        DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025571,004511:                                                                                                  #        INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
025572,004512: 
025573,004513:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025574,004514: 
025575,004515:                                                                                                  #  SUBROUTINES CALLED:
025576,004516: 
025577,004517:                                                                                                  #        REMODE          RRTONLY
025578,004518:                                                                                                  #        UNIT            MPACVBUF
025579,004519:                                                                                                  #        QUICTRIG        AX*SR*T
025580,004520:                                                                                                  #        SPSIN           SPCOS
025581,004521:                                                                                                  #        SETRRECR        RROUT
025582,004522:                                                                                                  #        RRRDOT          RRRANGE
025583,004523: 
025584,004524:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
025585,004525: 
025586,004526:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
025587,004527: 
025588,004528:                                                                                                  #        RM              RDOTM           (RAW)
025589,004529:                                                                                                  #        AIG             AMG             
025590,004530:                                                                                                  #        AOG             TRKMKCNT        TRKMKCNT = 00001 IF SET IS CONSISTENT,
025591,004531:                                                                                                  #        TANGNB          TANGNB +1       OTHERWISE TRKMKCNT = 00000.
025592,004532:                                                                                                  #        MKTIME

Page 600

025594,004534: 
025595,004535:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
025596,004536: 
025597,004537:                                                                                                  #        NOR29FLG        READRFLG                (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025598,004538:                                                                                                  #        PIPTIME         RADMODES (BIT 10)       (BIT SET TO 0 BY FRESH START)
025599,004539:                                                                                                  #        R(CSM)          V(CSM)
025600,004540:                                                                                                  #        R               V                       (PIPTIME THRU V BY AVE G IN SERVICER)
025601,004541: 
025602,004542:                                                                                                  #  DEBRIS:
025603,004543: 
025604,004544:                                                                                                  #        RADMODES (BIT 10)
025605,004545:                                                                                                  #        LOSSM           LOSVDT/4                (= RRTARGET & LOSVEL)
025606,004546:                                                                                                  #        SAVECDUT        OLDESFLG                (SAVECDUT = MLOSV)
025607,004547:                                                                                                  #        LOSCMFLG        READRFLG
025608,004548: 
025609,004549:                                                                                                  #  ALARMS:  NONE.
025610,004550: 
025611,004551:                                                                                                  #  COMPONENT JOBS AND TASKS:
025612,004552: 
025613,004553:                                                                                                  #        INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
025614,004554:                                                                                                  #        DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
025615,004555:                                                                                                  #        RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
025616,004556: 
025617,004557: 33,2045                                           BANK     33                                    
025618,004558: 33,2000                                           SETLOC   R29/SERV                              
025619,004559: 33,2000                                           BANK                                           
025620,004560: 
025621,004561: 33,2045                                           COUNT*   $$/r29                                
025622,004562: 
025623,004563: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
025624,004564: 

Page 601

025626,004566:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025627,004567:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025628,004568: 
025629,004569: 33,2045           40110        R29                CS       RADMODES                              
025630,004570: 33,2046           74742                           MASK     DESIGBIT                              
025631,004571: 33,2047           00006                           EXTEND                                         
025632,004572: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
025633,004573: 
025634,004574: 33,2051           00004                           INHINT                                         
025635,004575: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
025636,004576: 33,2053           44736                           CS       BIT14                                 
025637,004577: 33,2054           00006                           EXTEND                                         
025638,004578: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
025639,004579: 33,2056           44740                           CS       LOSCMBIT                              
025640,004580: 33,2057           70076                           MASK     FLAGWRD2                              
025641,004581: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025642,004582: 33,2061           44753                           CS       OLDESBIT                              
025643,004583: 33,2062           70074                           MASK     STATE                                 
025644,004584: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
025645,004585: 33,2064           04616                           TC       BANKCALL                              
025646,004586: 33,2065           52167                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
025647,004587: 33,2066           34740                           CA       ANTENBIT                              
025648,004588: 33,2067           70110                           MASK     RADMODES                              
025649,004589: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
025650,004590: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
025651,004591: 
025652,004592: 33,2072           35031                           CA       PRIO21                                #  MODE 1;  MUST REMODE.
025653,004593: 33,2073           05072                           TC       NOVAC                                 
025654,004594: 33,2074  E7,1456                                  EBANK=   LOSCOUNT                              
025655,004595: 33,2074           02113 66067                     2CADR    R29REM0J                              #  NEEDS OWN JOB TO RADSTALL IN.
025656,004596: 
025657,004597: 33,2076           44742                           CS       DESIGBIT                              
025658,004598: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
025659,004599: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
025660,004600: 33,2101           34736                           CA       REMODBIT                              
025661,004601: 33,2102           26110                           ADS      RADMODES                              #  SHOW THAT REMODING IS ON.
025662,004602: 33,2103           12573                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
025663,004603: 
025664,004604: 33,2104           34753        SETPRPOS           CA       ONE                                   
025665,004605: 33,2105           05203                           TC       WAITLIST                              
025666,004606: 33,2106  E7,1456                                  EBANK=   LOSCOUNT                              
025667,004607: 33,2106           03604 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
025668,004608: 
025669,004609: 33,2110           34741                           CA       REPOSBIT                              
025670,004610: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
025671,004611: 33,2112           12573                           TCF      NOR29NOW                              
025672,004612: 

Page 602

025674,004614:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
025675,004615: 
025676,004616: 33,2113           34753        R29REM0J           CA       ONE                                   
025677,004617: 33,2114           05203                           TC       WAITLIST                              
025678,004618: 33,2115  E7,1456                                  EBANK=   LOSCOUNT                              
025679,004619: 33,2115           02202 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
025680,004620: 
025681,004621: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
025682,004622: 33,2120           17705                           CADR     RADSTALL                              
025683,004623: 
025684,004624: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
025685,004625: 33,2122           15155                           TCF      ENDOFJOB                              
025686,004626: 
025687,004627:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025688,004628: 
025689,004629: 25,2000                                           SETLOC   R29S1                                 
025690,004630: 25,2000                                           BANK                                           
025691,004631: 
025692,004632: 25,3604           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
025693,004633: 25,3605           02252                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
025694,004634: 25,3606           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
025695,004635: 25,3607           70110                           MASK     RADMODES                              
025696,004636: 25,3610           54110                           TS       RADMODES                              
025697,004637: 25,3611           15261                           TCF      TASKOVER                              
025698,004638: 
025699,004639:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025700,004640: 
025701,004641: 33,2045                                           SETLOC   R29                                   
025702,004642: 33,2045                                           BANK                                           
025703,004643: 
025704,004644: 33,2123           00006        R29.LOS            EXTEND                                         
025705,004645: 33,2124           41234                           DCS      PIPTIME                               
025706,004646: 33,2125           52155                           DXCH     MPAC                                  
025707,004647: 33,2126           00006                           EXTEND                                         
025708,004648: 33,2127           30025                           DCA      TIME2                                 
025709,004649: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
025710,004650: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
025711,004651: 33,2132           30155                           CA       MPAC       +1                         
025712,004652: 33,2133           00006                           EXTEND                                         
025713,004653: 33,2134           74740                           MP       BIT12                                 
025714,004654: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
025715,004655: 33,2136           06042                           TC       INTPRET                               

Page 603

025717,004657:                                                                                                  #  LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025718,004658:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
025719,004659: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
025720,004660: 33,2140           01726                                    V(CSM)                                
025721,004661: 33,2141           03527                                    V                                     #  LOSVEL = V(CSM) - V.
025722,004662: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025723,004663: 33,2143           52255                           VAD      VSU                                   #        AND ADD THE RESULT TO R(CSM) - R TO GET
025724,004664: 33,2144           01720                                    R(CSM)                                #        AN UP-TO-DATE LOS VECTOR IN SM AXES.
025725,004665: 33,2145           03521                                    R                                     
025726,004666: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
025727,004667: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025728,004668: 33,2150           66152                                    SETUP29D                              #  FLG TO ON AND GO TO SET UP NEW DATA.
025729,004669: 33,2151           12573                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
025730,004670: 
025731,004671: 33,2152           25101        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025732,004672: 33,2153           00001                                    0                                     
025733,004673: 33,2154           77761                           VXSC                                           
025734,004674: 33,2155           26177                                    .5SECB17                              
025735,004675: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
025736,004676: 33,2157           77414                           CLEAR    EXIT                                  
025737,004677: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
025738,004678: 
025739,004679: 33,2161           40074                           CS       STATE                                 
025740,004680: 33,2162           74753                           MASK     OLDESBIT                              
025741,004681: 33,2163           00006                           EXTEND                                         
025742,004682: 33,2164           12573                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
025743,004683: 33,2165           00004                           INHINT                                         
025744,004684: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
025745,004685: 
025746,004686: 33,2167           11055                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025747,004687: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
025748,004688: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
025749,004689: 33,2172           05203                           TC       WAITLIST                              
025750,004690: 33,2173  E7,1456                                  EBANK=   LOSCOUNT                              
025751,004691: 33,2173           03357 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
025752,004692: 
025753,004693: 33,2175           12573                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
025754,004694: 
025755,004695: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
025756,004696: 

Page 604

025758,004698:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025759,004699:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025760,004700: 
025761,004701: 24,3357                                           BANK     24                                    
025762,004702: 24,2000                                           SETLOC   P20S                                  
025763,004703: 24,2000                                           BANK                                           
025764,004704: 
025765,004705: 24,3357                                           COUNT*   $$/R29                                
025766,004706: 
025767,004707: 24,3357           35031        BEGDES29           CAF      PRIO21                                
025768,004708: 24,3360           05072                           TC       NOVAC                                 
025769,004709: 24,3361  E3,1760                                  EBANK=   LOSVDT/4                              
025770,004710: 24,3361           02550 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
025771,004711: 
025772,004712: 24,3363           34774        R29DLOOP           CAF      .5SEC                                 
025773,004713: 24,3364           05224                           TC       VARDELAY                              
025774,004714: 
025775,004715: 24,3365           40110                           CS       RADMODES                              
025776,004716: 24,3366           74742                           MASK     DESIGBIT                              
025777,004717: 24,3367           10000                           CCS      A                                     
025778,004718: 24,3370           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
025779,004719: 
025780,004720: 24,3371           40076                           CS       FLAGWRD2                              
025781,004721: 24,3372           74740                           MASK     LOSCMBIT                              
025782,004722: 24,3373           00006                           EXTEND                                         
025783,004723: 24,3374           13377                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025784,004724: 24,3375           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
025785,004725: 24,3376           13357                           TCF      BEGDES29                              
025786,004726: 
025787,004727: 24,3377           34753                           CA       ONE                                   
025788,004728: 24,3400           13364                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.

Page 605

025790,004730:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
025791,004731: 
025792,004732:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
025793,004733:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025794,004734:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025795,004735:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025796,004736:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025797,004737: 
025798,004738:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025799,004739:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
025800,004740: 
025801,004741: 32,2550                                           BANK     32                                    
025802,004742: 32,2000                                           SETLOC   F2DPS*32                              
025803,004743: 32,2000                                           BANK                                           
025804,004744: 
025805,004745: 32,2550                                           COUNT*   $$/R29                                
025806,004746: 32,2550  E3,1760                                  EBANK=   LOSVDT/4                              
025807,004747: 
025808,004748: 32,2550           34753        R29DODES           CA       ONE                                   
025809,004749: 32,2551           55106                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
025810,004750: 32,2552           34756                           CA       FIVE                                  
025811,004751: 
025812,004752: 32,2553           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
025813,004753: 32,2554           54002                           TS       Q                                     
025814,004754: 32,2555           11106                           CCS      TANG                                  
025815,004755: 32,2556           12564                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
025816,004756: 
025817,004757: 32,2557           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
025818,004758: 32,2560           50002                           INDEX    Q                                     
025819,004759: 32,2561           31761                           DCA      LOSVDT/4                              
025820,004760: 32,2562           50002                           INDEX    Q                                     
025821,004761: 32,2563           21101                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
025822,004762: 
025823,004763: 32,2564           00006        R29DPAS1           EXTEND                                         
025824,004764: 32,2565           50002                           INDEX    Q                                     
025825,004765: 32,2566           31101                           DCA      LOSSM                                 
025826,004766: 32,2567           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025827,004767: 32,2570           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
025828,004768: 32,2571           11106                           CCS      TANG                                  
025829,004769: 32,2572           12600                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
025830,004770: 
025831,004771: 32,2573           00006                           EXTEND                                         
025832,004772: 32,2574           50002                           INDEX    Q                                     
025833,004773: 32,2575           31761                           DCA      LOSVDT/4                              
025834,004774: 32,2576           50002                           INDEX    Q                                     
025835,004775: 32,2577           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025836,004776: 
025837,004777: 32,2600           10002        R29DVEND           CCS      Q                                     
025838,004778: 32,2601           12553                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
025839,004779: 

Page 606

025841,004781:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025842,004782: 
025843,004783: 32,2602           52156                           DXCH     MPAC       +1                         
025844,004784: 32,2603           52155                           DXCH     MPAC                                  
025845,004785: 32,2604           32776                           CA       R29FXLOC                              #  = ADRES INTB15 + -34D
025846,004786: 32,2605           54120                           TS       FIXLOC                                
025847,004787: 32,2606           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025848,004788: 32,2607           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
025849,004789: 32,2610           07535                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025850,004790: 
025851,004791: 32,2611           11106                           CCS      TANG                                  
025852,004792: 32,2612           12614                           TCF      +2                                    
025853,004793: 32,2613           12630                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
025854,004794: 32,2614           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
025855,004795: 32,2615           00006                           EXTEND                                         
025856,004796: 32,2616           30036                           DCA      CDUT                                  
025857,004797: 32,2617           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
025858,004798: 32,2620           30033                           CA       CDUY                                  
025859,004799: 32,2621           54765                           TS       CDUSPOT                               
025860,004800: 32,2622           30034                           CA       CDUZ                                  
025861,004801: 32,2623           54767                           TS       CDUSPOT    +2                         
025862,004802: 32,2624           30032                           CA       CDUX                                  
025863,004803: 32,2625           54771                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025864,004804: 32,2626           04616                           TC       BANKCALL                              
025865,004805: 32,2627           47617                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
025866,004806: 
025867,004807: 32,2630           46250        GOTANGLS           CS       THREE                                 
025868,004808: 32,2631           04616                           TC       BANKCALL                              
025869,004809: 32,2632           47677                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025870,004810: 
025871,004811: 32,2633           11106                           CCS      TANG                                  
025872,004812: 32,2634           12636                           TCF      +2                                    
025873,004813: 32,2635           12703                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
025874,004814: 

Page 607

025876,004816:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025877,004817:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025878,004818: 
025879,004819: 32,2636           00004                           INHINT                                         
025880,004820: 32,2637           55106                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
025881,004821: 32,2640           31766                           CA       SAVECDUT                              
025882,004822: 32,2641           05032                           TC       SPCOS                                 
025883,004823: 32,2642           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
025884,004824: 32,2643           41766                           CS       SAVECDUT                              
025885,004825: 32,2644           05033                           TC       SPSIN                                 
025886,004826: 32,2645           54163                           TS       MODE                                  #  MODE = -SIN T.
025887,004827: 32,2646           00006                           EXTEND                                         
025888,004828: 32,2647           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
025889,004829: 32,2650           52155                           DXCH     MPAC                                  
025890,004830: 32,2651           31767                           CA       SAVECDUT   +1                         
025891,004831: 32,2652           05033                           TC       SPSIN                                 
025892,004832: 32,2653           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
025893,004833: 32,2654           00006                           EXTEND                                         
025894,004834: 32,2655           70166                           MP       PUSHLOC                               
025895,004835: 32,2656           00006                           EXTEND                                         
025896,004836: 32,2657           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
025897,004837: 32,2660           20155                           DAS      MPAC                                  
025898,004838: 32,2661           31767                           CA       SAVECDUT   +1                         
025899,004839: 32,2662           05032                           TC       SPCOS                                 
025900,004840: 32,2663           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S.
025901,004841: 32,2664           00006                           EXTEND                                         
025902,004842: 32,2665           70166                           MP       PUSHLOC                               
025903,004843: 32,2666           00006                           EXTEND                                         
025904,004844: 32,2667           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
025905,004845: 32,2670           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
025906,004846: 32,2671           00006                           EXTEND                                         #  -SIN T, COS S COS T).
025907,004847: 32,2672           30155                           DCA      MPAC                                  
025908,004848: 32,2673           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025909,004849: 32,2674           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
025910,004850: 32,2675           34736                           CA       BIT14                                 
025911,004851: 32,2676           12677                           NOOP                                           
025912,004852: 32,2677           00006                           EXTEND                                         
025913,004853: 32,2700           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025914,004854: 32,2701           00003                           RELINT                                         
025915,004855: 32,2702           12552                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
025916,004856: 

Page 608

025918,004858:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025919,004859: 
025920,004860: 32,2703           31767        R29DPAS2           CA       SAVECDUT   +1                         
025921,004861: 32,2704           00006                           EXTEND                                         
025922,004862: 32,2705           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
025923,004863: 32,2706           53107                           DXCH     TANG                                  
025924,004864: 32,2707           41766                           CS       SAVECDUT                              
025925,004865: 32,2710           00006                           EXTEND                                         
025926,004866: 32,2711           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
025927,004867: 32,2712           21107                           DAS      TANG                                  #  RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025928,004868: 32,2713           40163                           CS       MODE                                  #  - SIN S)
025929,004869: 32,2714           00006                           EXTEND                                         
025930,004870: 32,2715           71766                           MP       SAVECDUT                              
025931,004871: 32,2716           00006                           EXTEND                                         
025932,004872: 32,2717           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
025933,004873: 32,2720           52155                           DXCH     MPAC                                  
025934,004874: 32,2721           30166                           CA       PUSHLOC                               
025935,004875: 32,2722           00006                           EXTEND                                         
025936,004876: 32,2723           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
025937,004877: 32,2724           20155                           DAS      MPAC                                  
025938,004878: 32,2725           40163                           CS       MODE                                  
025939,004879: 32,2726           00006                           EXTEND                                         
025940,004880: 32,2727           71767                           MP       SAVECDUT   +1                         
025941,004881: 32,2730           00006                           EXTEND                                         
025942,004882: 32,2731           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
025943,004883: 32,2732           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
025944,004884: 32,2733           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
025945,004885: 32,2734           00006                           EXTEND                                         
025946,004886: 32,2735           72777                           MP       RR29GAIN                              
025947,004887: 32,2736           55354                           TS       TRUNNCMD                              
025948,004888: 32,2737           31106                           CA       TANG                                  
025949,004889: 32,2740           00006                           EXTEND                                         
025950,004890: 32,2741           72777                           MP       RR29GAIN                              
025951,004891: 32,2742           55355                           TS       SHAFTCMD                              #  STORE REFINED SHAFT COMMAND FOR RROUT
025952,004892: 

Page 609

025954,004894:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
025955,004895:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
025956,004896: 
025957,004897: 32,2743           34750        DGOOD?             CAF      BIT4                                  
025958,004898: 32,2744           00006                           EXTEND                                         
025959,004899: 32,2745           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
025960,004900: 32,2746           00004                           INHINT                                         #  (MAINLY FOR RROUT).
025961,004901: 32,2747           00006                           EXTEND                                         
025962,004902: 32,2750           12754                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
025963,004903: 
025964,004904: 32,2751           04616                           TC       BANKCALL                              
025965,004905: 32,2752           52317                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025966,004906: 32,2753           12772                           TCF      END29DOD                              
025967,004907: 
025968,004908: 32,2754           44742        R29LOKON           CS       DESIGBIT                              
025969,004909: 32,2755           70110                           MASK     RADMODES                              
025970,004910: 32,2756           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
025971,004911: 32,2757           44752                           CS       BIT2                                  
025972,004912: 32,2760           00006                           EXTEND                                         
025973,004913: 32,2761           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
025974,004914: 32,2762           34743                           CA       READRBIT                              
025975,004915: 32,2763           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
025976,004916: 32,2764           11055                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
025977,004917: 32,2765           44776                           CS       SUPER110                              #  -96D + 100D = 4.
025978,004918: 32,2766           64777                           AD       1SEC                                  #  0 + 100D = 100D.
025979,004919: 32,2767           05203                           TC       WAITLIST                              
025980,004920: 32,2770  E7,1456                                  EBANK=   LOSCOUNT                              
025981,004921: 32,2770           03401 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
025982,004922: 
025983,004923: 32,2772           44740        END29DOD           CS       LOSCMBIT                              
025984,004924: 32,2773           70076                           MASK     FLAGWRD2                              
025985,004925: 32,2774           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
025986,004926: 32,2775           15155                           TCF      ENDOFJOB                              
025987,004927: 
025988,004928: 32,2776           00052        R29FXLOC           ADRES    INTB15+    -34D                       
025989,004929: 32,2777           56655        RR29GAIN           DEC      -.53624                               
025990,004930: 32,3000  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
025991,004931: 32,3000     1100               LOSSM              EQUALS   RRTARGET                              
025992,004932: 32,3000  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
025993,004933: 

Page 610

025995,004935:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025996,004936: 
025997,004937: 24,3401                                           BANK     24                                    
025998,004938: 24,2000                                           SETLOC   P20S                                  
025999,004939: 24,2000                                           BANK                                           
026000,004940: 
026001,004941: 24,3401                                           COUNT*   $$/R29                                
026002,004942: 
026003,004943: 24,3401  E7,1456                                  EBANK=   LOSCOUNT                              
026004,004944: 
026005,004945: 24,3401           37717        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
026006,004946: 24,3402           05072                           TC       NOVAC                                 
026007,004947: 24,3403  E7,1456                                  EBANK=   LOSCOUNT                              
026008,004948: 24,3403           03414 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
026009,004949: 
026010,004950: 24,3405           35000                           CA       2SECS                                 
026011,004951: 24,3406           05224                           TC       VARDELAY                              
026012,004952: 
026013,004953: 24,3407           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
026014,004954: 24,3410           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
026015,004955: 24,3411           10000                           CCS      A                                     
026016,004956: 24,3412           13401                           TCF      R29READ                               #  IT'S OK;  CALL IT AGAIN.
026017,004957: 24,3413           15261                           TCF      TASKOVER                              #  IT AIN'T;  WAIT FOR REDESIGNATE.
026018,004958: 
026019,004959: 24,3414           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
026020,004960: 24,3415           74741                           MASK     NR29FBIT                              
026021,004961: 24,3416           10000                           CCS      A                                     #  TEST "NOR29FLG".
026022,004962: 24,3417           13501                           TCF      ENDR29RD                              #  R29 OVER, EXIT WITH RR STILL LOCKED ON
026023,004963: 24,3420           30110                           CA       RADMODES                              
026024,004964: 24,3421           74752                           MASK     AUTOMBIT                              
026025,004965: 24,3422           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
026026,004966: 24,3423           13476                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
026027,004967: 
026028,004968: 24,3424           04616                           TC       BANKCALL                              
026029,004969: 24,3425           53112                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
026030,004970: 24,3426           04616                           TC       BANKCALL                              
026031,004971: 24,3427           17705                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026032,004972: 24,3430           13476                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
026033,004973: 

Page 611

026035,004975:                                                                                                  #  R29 RADAR READING CONTINUED.
026036,004976: 
026037,004977: 24,3431           53105                           DXCH     TIMEHOLD                              
026038,004978: 24,3432           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
026039,004979: 24,3433           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
026040,004980: 24,3434           00006                           EXTEND                                         
026041,004981: 24,3435           30036                           DCA      CDUT                                  
026042,004982: 24,3436           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026043,004983: 24,3437           00006                           EXTEND                                         
026044,004984: 24,3440           30034                           DCA      CDUY                                  
026045,004985: 24,3441           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026046,004986: 24,3442           30032                           CA       CDUX                                  
026047,004987: 24,3443           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026048,004988: 
026049,004989: 24,3444           04616        R29RANGE           TC       BANKCALL                              
026050,004990: 24,3445           53114                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
026051,004991: 24,3446           04616                           TC       BANKCALL                              
026052,004992: 24,3447           17705                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026053,004993: 24,3450           13467                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
026054,004994: 
026055,004995: 24,3451           00004                           INHINT                                         
026056,004996: 24,3452           53331                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026057,004997: 24,3453           53757                           DXCH     RM                                    
026058,004998: 24,3454           52155                           DXCH     MPAC                                  
026059,004999: 24,3455           53755                           DXCH     MKTIME                                
026060,005000: 24,3456           52157                           DXCH     MPAC       +2                         
026061,005001: 24,3457           53753                           DXCH     TANGNB                                
026062,005002: 24,3460           52161                           DXCH     MPAC       +4                         
026063,005003: 24,3461           53460                           DXCH     AIG                                   
026064,005004: 24,3462           30162                           CA       MPAC       +6                         
026065,005005: 24,3463           55461                           TS       AOG                                   
026066,005006: 24,3464           34753                           CA       ONE                                   
026067,005007: 24,3465           55462                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
026068,005008: 24,3466           15155                           TCF      ENDOFJOB                              
026069,005009: 
026070,005010: 24,3467           40101        R29RRR?            CS       FLAGWRD5                              
026071,005011: 24,3470           74742                           MASK     BIT10                                 
026072,005012: 24,3471           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
026073,005013: 24,3472           13476                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
026074,005014: 24,3473           05516                           TC       DOWNFLAG                              
026075,005015: 24,3474           00120                           ADRES    RNGSCFLG                              
026076,005016: 24,3475           13444                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
026077,005017: 
026078,005018: 24,3476           44736        ENDRRD29           CS       BIT14                                 #  TROUBLE MADE US COME HERE TO LEAVE THE
026079,005019: 24,3477           00006                           EXTEND                                         #  RR-READING MODE.  DISCREDIT DOWNTEL
026080,005020: 24,3500           03012                           WAND     CHAN12                                
026081,005021: 24,3501           34755        ENDR29RD           CA       ZERO                                  
026082,005022: 24,3502           55462                           TS       TRKMKCNT                              
026083,005023: 24,3503           05516                           TC       DOWNFLAG                              
026084,005024: 

Page 612

026086,005026: 24,3504           00063                           ADRES    READRFLG                              
026087,005027: 24,3505           15155                           TCF      ENDOFJOB                              
026088,005028: 

Page 613

026090,005030:                                                                                                  #  W-MATRIX MONITOR
026091,005031: 
026092,005032: 31,2007                                           BANK     31                                    
026093,005033: 31,2000                                           SETLOC   VB67                                  
026094,005034: 31,2000                                           BANK                                           
026095,005035: 31,2007                                           COUNT*   $$/EXTVB                              
026096,005036: 
026097,005037: 31,2007  E4,1600                                  EBANK=   WWPOS                                 
026098,005038: 
026099,005039: 31,2007           06042        V67CALL            TC       INTPRET                               
026100,005040: 31,2010           77624                           CALL                                           
026101,005041: 31,2011           62120                                    V67WW                                 
026102,005042: 31,2012           77776                           EXIT                                           
026103,005043: 31,2013           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
026104,005044: 31,2014           31601                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
026105,005045: 31,2015           53607                           DXCH     WWBIAS     +2                         
026106,005046: 31,2016           00006                           EXTEND                                         
026107,005047: 31,2017           31603                           DCA      WWVEL                                 
026108,005048: 31,2020           53611                           DXCH     WWBIAS     +4                         
026109,005049: 31,2021           00006                           EXTEND                                         
026110,005050: 31,2022           31605                           DCA      WWBIAS                                
026111,005051: 31,2023           53613                           DXCH     WWBIAS     +6                         
026112,005052: 31,2024           32143        V06N99DS           CAF      V06N99                                
026113,005053: 31,2025           04616                           TC       BANKCALL                              
026114,005054: 31,2026           20334                           CADR     GOXDSPF                               
026115,005055: 31,2027           15472                           TCF      ENDEXT                                
026116,005056: 31,2030           12032                           TCF      V6N99PRO                              
026117,005057: 31,2031           12024                           TCF      V06N99DS                              
026118,005058: 31,2032           22007        V6N99PRO           ZL                                             
026119,005059: 31,2033           34756                           CA       FIVE                                  
026120,005060: 31,2034           54002        N99LOOP            TS       Q                                     
026121,005061: 31,2035           50002                           INDEX    Q                                     
026122,005062: 31,2036           41600                           CS       WWPOS                                 
026123,005063: 31,2037           50002                           INDEX    Q                                     
026124,005064: 31,2040           61606                           AD       WWPOS      +6                         
026125,005065: 31,2041           26001                           ADS      L                                     
026126,005066: 31,2042           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026127,005067: 31,2043           12034                           TCF      N99LOOP                               
026128,005068: 31,2044           22000                           LXCH     A                                     
026129,005069: 31,2045           00006                           EXTEND                                         
026130,005070: 31,2046           12051                           BZF      V06N9933                              
026131,005071: 31,2047           05504                           TC       UPFLAG                                
026132,005072: 31,2050           00160                           ADRES    V67FLAG                               
026133,005073: 
026134,005074: 31,2051           06042        V06N9933           TC       INTPRET                               
026135,005075: 31,2052           77414                           BON      EXIT                                  
026136,005076: 31,2053           03707                                    V67FLAG                               
026137,005077: 31,2054           62056                                    +2                                    
026138,005078: 31,2055           15472                           TCF      ENDEXT                                
026139,005079: 31,2056           77745                           DLOAD                                          

Page 614

026141,005081: 31,2057           02201                                    WWPOS                                 
026142,005082: 31,2060           72412                           SL4      SL1                                   
026143,005083: 31,2061           14001                           STODL    0D                                    
026144,005084: 31,2062           02203                                    WWVEL                                 
026145,005085: 31,2063           14003                           STODL    2D                                    
026146,005086: 31,2064           02205                                    WWBIAS                                
026147,005087: 31,2065           77661                           SL                                             #  SHIFT FROM NOUN SCALING (B-5) TO
026148,005088: 31,2066           20213                                    10D                                   #  INTERNAL SCALING (B+5)
026149,005089: 31,2067           00005                           STORE    4D                                    
026150,005090: 31,2070           72014                           BON      LXA,1                                 
026151,005091: 31,2071           04307                                    SURFFLAG                              
026152,005092: 31,2072           62102                                    V67SURF                               
026153,005093: 31,2073           00000                                    0D                                    
026154,005094: 31,2074           72130                           SXA,1    LXA,1                                 
026155,005095: 31,2075           02000                                    WRENDPOS                              
026156,005096: 31,2076           00002                                    2D                                    
026157,005097: 31,2077           52130                           SXA,1    GOTO                                  
026158,005098: 31,2100           02001                                    WRENDVEL                              
026159,005099: 31,2101           62110                                    V67CLRF                               
026160,005100: 31,2102           66150        V67SURF            LXA,1    SXA,1                                 
026161,005101: 31,2103           00000                                    0D                                    
026162,005102: 31,2104           02006                                    WSURFPOS                              
026163,005103: 31,2105           66150                           LXA,1    SXA,1                                 
026164,005104: 31,2106           00002                                    2D                                    
026165,005105: 31,2107           02007                                    WSURFVEL                              
026166,005106: 31,2110           66150        V67CLRF            LXA,1    SXA,1                                 
026167,005107: 31,2111           00004                                    4D                                    
026168,005108: 31,2112           02003                                    WTRUN                                 
026169,005109: 31,2113           77730                           SXA,1                                          
026170,005110: 31,2114           02002                                    WSHAFT                                
026171,005111: 31,2115           77414                           CLEAR    EXIT                                  
026172,005112: 31,2116           02676                                    RENDWFLG                              
026173,005113: 31,2117           15472                           TCF      ENDEXT                                
026174,005114: 31,2120           40020        V67WW              STQ      BOV                                   
026175,005115: 31,2121           00051                                    S2                                    
026176,005116: 31,2122           62123                                    +1                                    
026177,005117: 31,2123           45014                           CLEAR    CALL                                  
026178,005118: 31,2124           03667                                    V67FLAG                               
026179,005119: 31,2125           27410                                    INTSTALL                              
026180,005120: 31,2126           71331                           SSP      DLOAD                                 
026181,005121: 31,2127           00051                                    S1                                    
026182,005122: 31,2130           00006                           DEC      6          B-14                       
026183,005123: 31,2131           06524                                    ZEROVECS                              
026184,005124: 31,2132           02201                           STORE    WWPOS                                 
026185,005125: 31,2133           02203                           STORE    WWVEL                                 
026186,005126: 31,2134           02205                           STORE    WWBIAS                                
026187,005127: 31,2135           77770                           AXT,1                                          
026188,005128: 31,2136           00066                           DEC      54         B-14                       
026189,005129: 31,2137           47573        NXPOSVEL           VLOAD*   VSQ                                   
026190,005130: 31,2140           02467                                    W          +54D,1                     

Page 615

026192,005132: 31,2141           77650                           GOTO                                           
026193,005133: 31,2142           60002                                    ADDPOS                                
026194,005134: 31,2143           01543        V06N99             VN       0699                                  
026195,005135: 
026196,005136: 30,2000                                           SETLOC   VB67A                                 
026197,005137: 30,2000                                           BANK                                           
026198,005138: 30,2002                                           COUNT*   $$/EXTVB                              
026199,005139: 
026200,005140: 30,2002           77615        ADDPOS             DAD                                            
026201,005141: 30,2003           02201                                    WWPOS                                 
026202,005142: 30,2004           02201                           STORE    WWPOS                                 
026203,005143: 30,2005           47573                           VLOAD*   VSQ                                   
026204,005144: 30,2006           02555                                    W          +108D,1                    
026205,005145: 30,2007           77615                           DAD                                            
026206,005146: 30,2010           02203                                    WWVEL                                 
026207,005147: 30,2011           02203                           STORE    WWVEL                                 
026208,005148: 30,2012           47573                           VLOAD*   VSQ                                   
026209,005149: 30,2013           02643                                    W          +162D,1                    
026210,005150: 30,2014           77615                           DAD                                            
026211,005151: 30,2015           02205                                    WWBIAS                                
026212,005152: 30,2016           02205                           STORE    WWBIAS                                
026213,005153: 30,2017           75500                           TIX,1    SQRT                                  
026214,005154: 30,2020           62137                                    NXPOSVEL                              
026215,005155: 30,2021           77661                           SR                                             #  SHIFT FROM INTERNAL SCALING (B+5) TO
026216,005156: 30,2022           20613                                    10D                                   #  NOUN SCALING (B-5)
026217,005157: 30,2023           16205                           STODL    WWBIAS                                
026218,005158: 30,2024           02203                                    WWVEL                                 
026219,005159: 30,2025           77766                           SQRT                                           
026220,005160: 30,2026           16203                           STODL    WWVEL                                 
026221,005161: 30,2027           02201                                    WWPOS                                 
026222,005162: 30,2030           77766                           SQRT                                           
026223,005163: 30,2031           02201                           STORE    WWPOS                                 
026224,005164: 30,2032           52000                           BOV      GOTO                                  
026225,005165: 30,2033           60035                                    +2                                    
026226,005166: 30,2034           60042                                    V67XXX                                
026227,005167: 30,2035           77745                           DLOAD                                          
026228,005168: 30,2036           06532                                    DPPOSMAX                              
026229,005169: 30,2037           02201                           STORE    WWPOS                                 
026230,005170: 30,2040           02203                           STORE    WWVEL                                 
026231,005171: 30,2041           02205                           STORE    WWBIAS                                
026232,005172: 30,2042           45345        V67XXX             DLOAD    DSU                                   
026233,005173: 30,2043           02201                                    WWPOS                                 
026234,005174: 30,2044           20060                                    FT99999                               
026235,005175: 30,2045           71240                           BMN      DLOAD                                 
026236,005176: 30,2046           60051                                    +3                                    
026237,005177: 30,2047           20060                                    FT99999                               
026238,005178: 30,2050           02201                           STORE    WWPOS                                 
026239,005179: 30,2051           66150                           LXA,1    SXA,1                                 
026240,005180: 30,2052           00051                                    S2                                    
026241,005181: 30,2053           00052                                    QPRET                                 

Page 616

026243,005183: 30,2054           77776                           EXIT                                           
026244,005184: 30,2055           04635                           TC       POSTJUMP                              
026245,005185: 30,2056           27421                           CADR     INTWAKE                               
026246,005186: 
026247,005187: 30,2057           01670 17000  FT99999            2DEC     30479      B-19                       
026248,005188: 

Page 617

026250,005190: 25,3612                                           BANK     25                                    
026251,005191: 25,2000                                           SETLOC   RADARUPT                              
026252,005192: 25,2000                                           BANK                                           
026253,005193: 25,3612                                           COUNT*   $$/RRUPT                              
026254,005194: 
026255,005195: 25,3612  E7,1456                                  EBANK=   LOSCOUNT                              
026256,005196: 
026257,005197: 25,3612           44747        RADLITES           CS       BIT5                                  
026258,005198: 25,3613           60061                           AD       ITEMP1                                
026259,005199: 25,3614           10000                           CCS      A                                     
026260,005200: 25,3615           44753                           CS       ONE                                   
026261,005201: 25,3616           13646                           TCF      VLIGHT                                
026262,005202: 
026263,005203: 25,3617           14570                           TCF      RRTRKF                                
026264,005204: 
026265,005205: 25,3620           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
026266,005206: 
026267,005207: 25,3621           34747                           CA       HLITE                                 
026268,005208: 25,3622           54001                           TS       L                                     
026269,005209: 
026270,005210: 25,3623           34747                           CA       LRALTBIT                              
026271,005211: 25,3624           70110        BOTHLITS           MASK     RADMODES                              
026272,005212: 25,3625           10000                           CCS      A                                     
026273,005213: 25,3626           13640                           TCF      ONLITES                               
026274,005214: 
026275,005215: 25,3627           30107                           CA       FLGWRD11                              
026276,005216: 25,3630           50065                           INDEX    ITEMP5                                
026277,005217: 25,3631           74753                           MASK     HFLSHBIT                              
026278,005218: 25,3632           10000                           CCS      A                                     
026279,005219: 25,3633           14570                           TCF      RRTRKF                                
026280,005220: 
026281,005221: 25,3634           00006        LITIT              EXTEND                                         
026282,005222: 25,3635           22066                           QXCH     ITEMP6                                
026283,005223: 25,3636           04602                           TC       TRKFLON    +1                         
026284,005224: 
026285,005225: 25,3637           00066                           TC       ITEMP6                                
026286,005226: 
026287,005227: 25,3640           50065        ONLITES            INDEX    ITEMP5                                
026288,005228: 25,3641           44753                           CS       HFLSHBIT                              
026289,005229: 25,3642           70107                           MASK     FLGWRD11                              
026290,005230: 25,3643           54107                           TS       FLGWRD11                              
026291,005231: 
026292,005232: 25,3644           30001                           CA       L                                     
026293,005233: 25,3645           13634                           TCF      LITIT                                 
026294,005234: 25,3646           54065        VLIGHT             TS       ITEMP5                                
026295,005235: 25,3647           34751                           CA       VLITE                                 
026296,005236: 25,3650           54001                           TS       L                                     
026297,005237: 25,3651           34744                           CA       BIT8                                  
026298,005238: 25,3652           13624                           TCF      BOTHLITS                              
026299,005239: 

Page 618

026301,005241: 25,3653     4747               HLITE              EQUALS   BIT5                                  
026302,005242: 25,3653     4751               VLITE              EQUALS   BIT3                                  
026303,005243: 

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