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.

021054,000002:                                                                                                  ## Copyright:   Public domain.
021055,000003:                                                                                                  ## Filename:    P20-P25.agc
021056,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
021057,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
021058,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
021059,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
021060,000008:                                                                                                  ##              that the code format has been changed to conform to the
021061,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the 
021062,000010:                                                                                                  ##              original YUL assembler.
021063,000011:                                                                                                  ## Reference:   pp. 496-618
021064,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
021065,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
021066,000014:                                                                                                  ## Mod history: 05/15/03 RSB.   Began transcribing.
021067,000015:                                                                                                  ##              12/01/03 RSB.   Entered/corrected the previously-missing code from
021068,000016:                                                                                                  ##                              the bottom of p. 595 using a replacement scan
021069,000017:                                                                                                  ##                              provided by Gary Neff.
021070,000018:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
021071,000019:                                                                                                  ##              2010-10-25 JL   Fixed p583 page number.
021072,000020:                                                                                                  ##              2011-05-07 JL   Removed workarounds.
021073,000021:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
021074,000022:                                                                                                  ##                              original harcopy, as opposed to the PDF page
021075,000023:                                                                                                  ##                              numbers in 1701.pdf.
021076,000024:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
021077,000025:                                                                                                  ##              2017-02-24 RSB  Proofed comment text using octopus/ProoferComments.
021078,000026:                                                                                                  ##              2017-02-28 RSB  Fixed lingering typos.
021079,000027:                                                                                                  ##              2017-03-07 RSB  Comment-text error-fixes noted in proofing Luminary 116.
021080,000028:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
021081,000029:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
021082,000030: 

Page 496

021084,000032:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
021085,000033: 
021086,000034:                                                                                                  #  PROGRAM DESCRIPTION
021087,000035: 
021088,000036:                                                                                                  #        MOD NO - 2
021089,000037:                                                                                                  #        BY P. VOLANTE
021090,000038: 
021091,000039:                                                                                                  #  FUNCTIONAL DESCRIPTION
021092,000040: 
021093,000041:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021094,000042:                                                                                                  #        STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER 
021095,000043:                                                                                                  #        THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021096,000044:                                                                                                  #        ON THE BASIS OF THE RR TRACKING DATA.
021097,000045: 
021098,000046:                                                                                                  #  CALLING SEQUENCE -
021099,000047: 
021100,000048:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E20E
021101,000049: 
021102,000050:                                                                                                  #  SUBROUTINES CALLED
021103,000051: 
021104,000052:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      FLAGUP
021105,000053:                                                                                                  #        GOFLASH (PINBALL-DISPLAY)                       FLAGDOWN
021106,000054:                                                                                                  #        R23LEM  (MANUAL ACQUISITION)                    BANKCALL
021107,000055:                                                                                                  #        LS201   (LOS DETERMINATION)                     TASKOVER
021108,000056:                                                                                                  #        LS202   (RANGE LIMIT TEST)
021109,000057:                                                                                                  #        R61LEM  (PREFERRED TRACKING ATTITUDE)
021110,000058:                                                                                                  #        R21LEM  (RR DESIGNATE)                          ENDOFJOB
021111,000059:                                                                                                  #        R22LEM  (DATA READ)                             GOPERF1
021112,000060:                                                                                                  #        R31LEM  (RENDEZVOUS PARAMETER DISPLAY)  
021113,000061:                                                                                                  #        PRIOLARM (PRIORITY DISPLAY)
021114,000062: 
021115,000063:                                                                                                  #  NORMAL EXIT MODES -
021116,000064: 
021117,000065:                                                                                                  #        P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021118,000066:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021119,000067: 
021120,000068:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021121,000069: 
021122,000070:                                                                                                  #        RANGE GREATER THAN 400 NM DISPLAY
021123,000071: 
021124,000072:                                                                                                  #  OUTPUT
021125,000073: 
021126,000074:                                                                                                  #        TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021127,000075: 
021128,000076:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021129,000077: 
021130,000078:                                                                                                  #  FLAGS SET + RESET
021131,000079: 
021132,000080:                                                                                                  #        SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021133,000081: 
021134,000082:                                                                                                  #  DEBRIS
021135,000083: 
021136,000084:                                                                                                  #        CENTRALS - A,Q,L
021137,000085: 
021138,000086: 25,2073  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
021139,000087: 
021140,000088: 33,2045                                           BANK     33                                    
021141,000089: 24,2000                                           SETLOC   P20S                                  
021142,000090: 24,2000                                           BANK                                           
021143,000091: 
021144,000092: 24,2000  E7,1456                                  EBANK=   LOSCOUNT                              
021145,000093: 24,2000                                           COUNT*   $$/P20                                
021146,000094: 24,2000  24,2000               PROG22             =        PROG20                                
021147,000095: 24,2000           05327        PROG20             TC       2PHSCHNG                              
021148,000096: 24,2001           00004                           OCT      4                                     
021149,000097: 24,2002           05022                           OCT      05022                                 
021150,000098: 24,2003           26000                           OCT      26000                                 #  PRIORITY 26
021151,000099: 24,2004           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE

Page 497

021153,000101: 24,2005           02007                           TC       ORBCHGO                               #  YES
021154,000102: 24,2006           02036                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
021155,000103: 24,2007           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
021156,000104: 24,2010           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
021157,000105: 24,2011           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
021158,000106: 24,2012           55144                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
021159,000107: 24,2013           34363                           CAF      OCT00012                              
021160,000108: 24,2014           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
021161,000109: 24,2015           20634                           CADR     GOPERF4                               
021162,000110: 24,2016           06001                           TC       GOTOPOOH                              #  TERMINATE
021163,000111: 24,2017           02021                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
021164,000112: 24,2020           02013                           TC       -5                                    #  R2 LOADED THRU DSKY
021165,000113: 24,2021           44753        ORBCHG1            CS       ONE                                   
021166,000114: 24,2022           61144                           AD       OPTION2                               
021167,000115: 24,2023           00006                           EXTEND                                         
021168,000116: 24,2024           12040                           BZF      PROG20A                               
021169,000117: 24,2025           32311                           CAF      V06N33*                               
021170,000118: 24,2026           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
021171,000119: 24,2027           20477                           CADR     GOFLASH                               #  TIME OF LAUNCH
021172,000120: 24,2030           06001                           TC       GOTOPOOH                              #  TERMINATE
021173,000121: 24,2031           02033                           TC       ORBCHG2                               #  PROCEED VALUES OK
021174,000122: 24,2032           02025                           TC       -5                                    #  TIME LOADED THRU DSKY
021175,000123: 24,2033           06042        ORBCHG2            TC       INTPRET                               
021176,000124: 24,2034           77650                           GOTO                                           
021177,000125: 24,2035           64217                                    ORBCHG3                               
021178,000126: 
021179,000127: 32,2217                                           BANK     32                                    
021180,000128: 32,2000                                           SETLOC   P20S4                                 
021181,000129: 32,2000                                           BANK                                           
021182,000130: 32,2217                                           COUNT*   $$/P20                                
021183,000131: 
021184,000132: 32,2217           77624        ORBCHG3            CALL                                           
021185,000133: 32,2220           27410                                    INTSTALL                              
021186,000134: 32,2221           77745                           DLOAD                                          
021187,000135: 32,2222           03442                                    TIG                                   
021188,000136: 32,2223           03661                           STORE    LNCHTM                                
021189,000137: 32,2224           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
021190,000138: 32,2225           43014                           CLEAR    CLEAR                                 
021191,000139: 32,2226           01674                                    VINTFLAG                              #  LM INTEGRATION
021192,000140: 32,2227           01673                                    INTYPFLG                              #  PRECISION - ENCKE
021193,000141: 32,2230           43014                           CLEAR    CLEAR                                 
021194,000142: 32,2231           01676                                    DIM0FLAG                              #  NO W-MATRIX
021195,000143: 32,2232           01675                                    D6OR9FLG                              
021196,000144: 32,2233           77624                           CALL                                           
021197,000145: 32,2234           27133                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
021198,000146: 32,2235           77624                           CALL                                           
021199,000147: 32,2236           11210                                    GRP2PC                                
021200,000148: 32,2237           77775                           VLOAD                                          
021201,000149: 32,2240           00017                                    RATT1                                 
021202,000150: 32,2241           17631                           STODL    RSUBL                                 #  SAVE LM POSITION
021203,000151: 32,2242           00015                                    TAT                                   

Page 498

021205,000153: 32,2243           34041                           STCALL   TDEC1                                 
021206,000154: 32,2244           27410                                    INTSTALL                              
021207,000155: 32,2245           43014                           SET      CLEAR                                 
021208,000156: 32,2246           01474                                    VINTFLAG                              #  CSM INTEGRATION
021209,000157: 32,2247           01673                                    INTYPFLG                              
021210,000158: 32,2250           43014                           CLEAR    BOFF                                  
021211,000159: 32,2251           01676                                    DIM0FLAG                              
021212,000160: 32,2252           02756                                    RENDWFLG                              #  W MATRIX VALID
021213,000161: 32,2253           64257                                    NOWMATX                               #  NO
021214,000162: 32,2254           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
021215,000163: 32,2255           01476                                    DIM0FLAG                              
021216,000164: 32,2256           01475                                    D6OR9FLG                              
021217,000165: 32,2257           77624        NOWMATX            CALL                                           
021218,000166: 32,2260           27133                                    INTEGRV                               #  CSM INTEGRATION
021219,000167: 32,2261           77624                           CALL                                           
021220,000168: 32,2262           11210                                    GRP2PC                                
021221,000169: 32,2263           77775                           VLOAD                                          
021222,000170: 32,2264           00025                                    VATT1                                 
021223,000171: 32,2265           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
021224,000172: 32,2266           00017                                    RATT1                                 
021225,000173: 32,2267           01101                           STORE    RSUBC                                 #  SAVE CSM POSITION
021226,000174: 32,2270           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021227,000175: 32,2271           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
021228,000176: 32,2272           24025                           STOVL    20D                                   #  SAVE NSUB1
021229,000177: 32,2273           03631                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
021230,000178: 32,2274           53435                           VXV      UNIT                                  #  PLANE CHANGE
021231,000179: 32,2275           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
021232,000180: 32,2276           27637                           STOVL    UCSM                                  
021233,000181: 32,2277           01101                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
021234,000182: 32,2300           50256                           UNIT     DOT                                   #  AND RSUBC
021235,000183: 32,2301           03637                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
021236,000184: 32,2302           77752                           SL1                                            
021237,000185: 32,2303           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
021238,000186: 32,2304           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
021239,000187: 32,2305           06514                                    ONEB-2                                
021240,000188: 32,2306           77766                           SQRT                                           
021241,000189: 32,2307           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
021242,000190: 32,2310           01101                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
021243,000191: 32,2311           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
021244,000192: 32,2312           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
021245,000193: 32,2313           77676                           VCOMP                                          
021246,000194: 32,2314           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
021247,000195: 32,2315           45014                           CLEAR    CALL                                  
021248,000196: 32,2316           03666                                    RVSW                                  
021249,000197: 32,2317           24732                                    TIMETHET                              
021250,000198: 32,2320           77676                           VCOMP                                          
021251,000199: 32,2321           03645                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
021252,000200: 32,2322           77745                           DLOAD                                          
021253,000201: 32,2323           00037                                    T                                     
021254,000202: 32,2324           27663                           STOVL    TRANSTM                               #  TRANSFER TIME

Page 499

021256,000204: 32,2325           03645                                    NEWVEL                                
021257,000205: 32,2326           77646                           ABVAL                                          
021258,000206: 32,2327           24025                           STOVL    20D                                   
021259,000207: 32,2330           00001                                    0D                                    
021260,000208: 32,2331           03653                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
021261,000209: 32,2332           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021262,000210: 32,2333           03631                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
021263,000211: 32,2334           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
021264,000212: 32,2335           03653                                    NEWPOS                                #  ORBITAL PLANE
021265,000213: 32,2336           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021266,000214: 32,2337           00025                                    20D                                   
021267,000215: 32,2340           37665                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
021268,000216: 32,2341           11210                                    GRP2PC                                
021269,000217: 32,2342           77624                           CALL                                           
021270,000218: 32,2343           27410                                    INTSTALL                              
021271,000219: 32,2344           44345                           DLOAD    BDSU                                  
021272,000220: 32,2345           03663                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
021273,000221: 32,2346           03661                                    LNCHTM                                
021274,000222: 32,2347           25517                           STOVL    TET                                   
021275,000223: 32,2350           03653                                    NEWPOS                                
021276,000224: 32,2351           01535                           STORE    RCV                                   
021277,000225: 32,2352           25503                           STOVL    RRECT                                 
021278,000226: 32,2353           03665                                    NCSMVEL                               
021279,000227: 32,2354           35511                           STCALL   VRECT                                 
021280,000228: 32,2355           27705                                    MINIRECT                              
021281,000229: 32,2356           45174                           AXT,2    CALL                                  
021282,000230: 32,2357           00002                                    2                                     
021283,000231: 32,2360           26660                                    ATOPCSM                               
021284,000232: 32,2361           77624                           CALL                                           
021285,000233: 32,2362           27417                                    INTWAKE0                              
021286,000234: 32,2363           77776                           EXIT                                           
021287,000235: 32,2364           04616                           TC       BANKCALL                              
021288,000236: 32,2365           50040                           CADR     PROG20A                               
021289,000237: 
021290,000238: 24,2036                                           BANK     24                                    
021291,000239: 24,2000                                           SETLOC   P20S                                  
021292,000240: 24,2000                                           BANK                                           
021293,000241: 24,2036                                           COUNT*   $$/P20                                
021294,000242: 
021295,000243: 24,2036           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG - LM STATE VECTOR
021296,000244: 24,2037           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
021297,000245: 24,2040           04616        PROG20A            TC       BANKCALL                              
021298,000246: 24,2041           11233                           CADR     R02BOTH                               
021299,000247: 24,2042           05504                           TC       UPFLAG                                
021300,000248: 24,2043           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
021301,000249: 24,2044           05504                           TC       UPFLAG                                
021302,000250: 24,2045           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021303,000251: 24,2046           05504                           TC       UPFLAG                                
021304,000252: 24,2047           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
021305,000253: 24,2050           05516                           TC       DOWNFLAG                              
021306,000254: 24,2051           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF

Page 500

021308,000256: 24,2052           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
021309,000257: 24,2053           00040                           ADRES    ACMODFLG                              
021310,000258: 24,2054           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
021311,000259: 24,2055           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
021312,000260: 24,2056           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
021313,000261: 24,2057           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
021314,000262: 24,2060           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
021315,000263: 24,2061           00041                           ADRES    LOSCMFLG                              
021316,000264: 24,2062           06011                           TC       CLRADMOD                              
021317,000265: 24,2063           05353        P20LEM1            TC       PHASCHNG                              
021318,000266: 24,2064           04022                           OCT      04022                                 
021319,000267: 24,2065           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
021320,000268: 24,2066           55462                           TS       MARKCTR                               
021321,000269: 24,2067           06042                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
021322,000270: 24,2070           77634                           RTB                                            
021323,000271: 24,2071           21574                                    LOADTIME                              
021324,000272: 24,2072           34041                           STCALL   TDEC1                                 
021325,000273: 24,2073           51256                                    LPS20.1                               
021326,000274: 24,2074           77624                           CALL                                           
021327,000275: 24,2075           53570                                    LPS20.2                               #  TEST RANGE R/UTINE
021328,000276: 24,2076           77776                           EXIT                                           
021329,000277: 24,2077           50154                           INDEX    MPAC                                  
021330,000278: 24,2100           02101                           TC       +1                                    
021331,000279: 24,2101           02111                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
021332,000280: 24,2102           32305        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
021333,000281: 24,2103           04616                           TC       BANKCALL                              
021334,000282: 24,2104           21563                           CADR     PRIOLARM                              
021335,000283: 24,2105           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021336,000284: 24,2106           02102                           TC       -4                                    #  PROC (ILLEGAL
021337,000285: 24,2107           02063                           TC       P20LEM1                               #  ENTER RECYCLE
021338,000286: 24,2110           05155                           TC       ENDOFJOB                              
021339,000287: 
021340,000288: 24,2111           05353        P20LEMA            TC       PHASCHNG                              
021341,000289: 24,2112           04022                           OCT      04022                                 
021342,000290: 24,2113           02670                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
021343,000291: 24,2114           02117                           TC       P20LEMB                               
021344,000292: 24,2115           04616                           TC       BANKCALL                              
021345,000293: 24,2116           46116                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
021346,000294: 24,2117           05353        P20LEMB            TC       PHASCHNG                              
021347,000295: 24,2120           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
021348,000296: 24,2121           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
021349,000297: 24,2122           37717                           CAF      PRIO26                                #  RESTORE PRIORITY 26
021350,000298: 24,2123           05146                           TC       PRIOCHNG                              
021351,000299: 24,2124           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
021352,000300: 24,2125           74747                           MASK     TRACKBIT                              
021353,000301: 24,2126           00006                           EXTEND                                         
021354,000302: 24,2127           12232                           BZF      P20LEMWT                              #  BRANCH - NO - WAIT FOR IT TO BE SET
021355,000303: 24,2130           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
021356,000304: 24,2131           00006                           EXTEND                                         

Page 501

021358,000306: 24,2132           02033                           RAND     CHAN33                                
021359,000307: 24,2133           00006                           EXTEND                                         
021360,000308: 24,2134           12170                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
021361,000309: 
021362,000310: 24,2135           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
021363,000311: 24,2136           61010                           AD       MODREG                                #  MAJOR MODE IS 20
021364,000312: 24,2137           00006                           EXTEND                                         
021365,000313: 24,2140           12153                           BZF      P20LEMB6                              #  BRANCH - YES-OK TO DO PLEASE PERFORM
021366,000314: 
021367,000315: 24,2141           67751                           AD       NEG2                                  #  ALSO CHECK FOR P22
021368,000316: 24,2142           00006                           EXTEND                                         
021369,000317: 24,2143           12153                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
021370,000318: 24,2144           32307                           CAF      ALRM514                               #  TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021371,000319: 24,2145           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
021372,000320: 24,2146           21563                           CADR     PRIOLARM                              
021373,000321: 24,2147           06025                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
021374,000322: 24,2150           02117                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
021375,000323: 24,2151           02117                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
021376,000324: 24,2152           05155                           TC       ENDOFJOB                              
021377,000325: 24,2153           32306        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
021378,000326: 24,2154           04616                           TC       BANKCALL                              
021379,000327: 24,2155           20624                           CADR     GOPERF1                               
021380,000328: 24,2156           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021381,000329: 24,2157           02117                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021382,000330: 24,2160           02670                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
021383,000331: 24,2161           02166                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021384,000332: 24,2162           03137                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
021385,000333: 
021386,000334: 24,2163           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
021387,000335: 24,2164           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
021388,000336: 24,2165           02117                           TC       P20LEMB                               #  RR AUTO MODE
021389,000337: 
021390,000338: 24,2166           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
021391,000339: 24,2167           02117                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
021392,000340: 
021393,000341: 24,2170           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021394,000342: 24,2171           74737                           MASK     RCDU0BIT                              
021395,000343: 24,2172           00006                           EXTEND                                         
021396,000344: 24,2173           12205                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
021397,000345: 24,2174           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
021398,000346: 24,2175           70076                           MASK     FLAGWRD2                              
021399,000347: 24,2176           00006                           EXTEND                                         
021400,000348: 24,2177           12211                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
021401,000349: 24,2200           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
021402,000350: 24,2201           00037                           ADRES    SRCHOPTN                              

Page 502

021404,000352: 24,2202           05516                           TC       DOWNFLAG                              
021405,000353: 24,2203           00040                           ADRES    ACMODFLG                              
021406,000354: 24,2204           02232                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021407,000355: 
021408,000356: 24,2205           32304        P20LEMB4           CAF      250DEC                                
021409,000357: 24,2206           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021410,000358: 24,2207           01736                           CADR     DELAYJOB                              #  ZEROED - THEN GO BACK AND CHECK AGAIN
021411,000359: 24,2210           02170                           TC       P20LEMB3                              
021412,000360: 
021413,000361: 24,2211           06042        P20LEMC3           TC       INTPRET                               
021414,000362: 24,2212           77634                           RTB                                            
021415,000363: 24,2213           21574                                    LOADTIME                              
021416,000364: 24,2214           34041                           STCALL   TDEC1                                 
021417,000365: 24,2215           50312                                    UPPSV                                 
021418,000366: 24,2216           77776        P20LEMC4           EXIT                                           
021419,000367: 24,2217           05353        P20LEMC            TC       PHASCHNG                              
021420,000368: 24,2220           04022                           OCT      04022                                 
021421,000369: 24,2221           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
021422,000370: 24,2222           74745                           MASK     RNDVZBIT                              
021423,000371: 24,2223           00006                           EXTEND                                         
021424,000372: 24,2224           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
021425,000373: 24,2225           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021426,000374: 24,2226           74747                           MASK     TRACKBIT                              
021427,000375: 24,2227           00006                           EXTEND                                         
021428,000376: 24,2230           12264                           BZF      P20LEMD                               #  BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021429,000377: 24,2231           02675        P20LEMF            TC       R21LEM                                
021430,000378: 
021431,000379: 24,2232           32304        P20LEMWT           CAF      250DEC                                
021432,000380: 24,2233           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
021433,000381: 24,2234           02244                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
021434,000382: 24,2235           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021435,000383: 24,2236           74747                           MASK     TRACKBIT                              
021436,000384: 24,2237           00006                           EXTEND                                         
021437,000385: 24,2240           15155                           BZF      ENDOFJOB                              #  NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021438,000386: 24,2241           05353        P20LMWT1           TC       PHASCHNG                              
021439,000387: 24,2242           40072                           OCT      40072                                 
021440,000388: 24,2243           05155                           TC       ENDOFJOB                              
021441,000389: 
021442,000390: 24,2244           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
021443,000391: 24,2245           74745                           MASK     RNDVZBIT                              
021444,000392: 24,2246           00006                           EXTEND                                         
021445,000393: 24,2247           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
021446,000394: 24,2250           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021447,000395: 24,2251           74747                           MASK     TRACKBIT                              
021448,000396: 24,2252           00006                           EXTEND                                         
021449,000397: 24,2253           12261                           BZF      P20LEMC2                              #  NO - DONT SCHEDULE R22 JOB

Page 503

021451,000399: 24,2254           37717                           CAF      PRIO26                                #  YES - SCHEDULE R22 JOB (RR DATA READ)
021452,000400: 24,2255           05105                           TC       FINDVAC                               
021453,000401: 24,2256  E7,1456                                  EBANK=   LOSCOUNT                              
021454,000402: 24,2256           02631 50067                     2CADR    R22LEM42                              
021455,000403: 
021456,000404: 24,2260           05261                           TC       TASKOVER                              
021457,000405: 
021458,000406: 24,2261           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET, WAIT 15 SECONDS
021459,000407: 24,2262           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
021460,000408: 
021461,000409: 24,2263           02244                           TC       P20LEMC1                              
021462,000410: 
021463,000411: 24,2264           32667        P20LEMD            CAF      1500DEC                               
021464,000412: 24,2265           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
021465,000413: 24,2266           02270                           ADRES    P20LEMD1                              
021466,000414: 24,2267           05155                           TC       ENDOFJOB                              
021467,000415: 
021468,000416: 24,2270           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021469,000417: 24,2271           74747                           MASK     TRACKBIT                              
021470,000418: 24,2272           10000                           CCS      A                                     
021471,000419: 24,2273           12277                           TCF      P20LEMD2                              #  YES - SCHEDULE DESIGNATE JOB
021472,000420: 24,2274           05221                           TC       FIXDELAY                              #  NO - WAIT 15 SECONDS
021473,000421: 24,2275           02734                           DEC      1500       B-14                       
021474,000422: 24,2276           02270                           TC       P20LEMD1                              
021475,000423: 
021476,000424: 24,2277           37717        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
021477,000425: 24,2300           05105                           TC       FINDVAC                               
021478,000426: 24,2301  E7,1456                                  EBANK=   LOSCOUNT                              
021479,000427: 24,2301           02211 50067                     2CADR    P20LEMC3                              #  START AT PERM.  MEMORY INTEGRATION
021480,000428: 
021481,000429: 24,2303           05261                           TC       TASKOVER                              
021482,000430: 
021483,000431: 24,2304           00372        250DEC             DEC      250        B-14                       
021484,000432: 24,2305           00526        ALRM526            OCT      00526                                 
021485,000433: 24,2306           00201        OCT201             OCT      00201                                 
021486,000434: 24,2307           00514        ALRM514            OCT      514                                   
021487,000435: 24,2310           00074        MAXTRIES           DEC      60         B-14                       
021488,000436: 24,2311     4363               OCT00012           EQUALS   BINCON                                
021489,000437: 24,2311  23,2513               ONEB-2             EQUALS   DP1/4TH                               
021490,000438: 24,2311           01441        V06N33*            VN       0633                                  
021491,000439: 24,2312           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
021492,000440: 24,2313           01757                                    LS21X                                 #        TO PRESENT TIME
021493,000441: 24,2314           27410                                    INTSTALL                              
021494,000442: 24,2315           77624                           CALL                                           
021495,000443: 24,2316           26643                                    SETIFLGS                              
021496,000444: 24,2317           43014                           BOF      SET                                   #  IF W-MATRIX INVALID, DONT INTEGRATE IT

Page 504

021498,000446: 24,2320           02756                                    RENDWFLG                              
021499,000447: 24,2321           50332                                    UPPSV1                                
021500,000448: 24,2322           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
021501,000449: 24,2323           43014                           BON      SET                                   
021502,000450: 24,2324           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
021503,000451: 24,2325           50327                                    UPPSV5                                
021504,000452: 24,2326           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
021505,000453: 24,2327           77614        UPPSV5             BOF                                            
021506,000454: 24,2330           00747                                    VEHUPFLG                              
021507,000455: 24,2331           50364                                    UPPSV3                                
021508,000456: 24,2332           77614        UPPSV1             SET                                            
021509,000457: 24,2333           01474                                    VINTFLAG                              
021510,000458: 24,2334           77624                           CALL                                           
021511,000459: 24,2335           27133                                    INTEGRV                               
021512,000460: 24,2336           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
021513,000461: 24,2337           11210                                    GRP2PC                                #  TO PROTECT INTEGRATION
021514,000462: 24,2340           77624                           CALL                                           
021515,000463: 24,2341           27410                                    INTSTALL                              
021516,000464: 24,2342           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
021517,000465: 24,2343           01571                                    TETCSM                                
021518,000466: 24,2344           01674                                    VINTFLAG                              
021519,000467: 24,2345           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
021520,000468: 24,2346           26643                                    SETIFLGS                              #        WITHOUT W-MATRIX
021521,000469: 24,2347           34041                           STCALL   TDEC1                                 
021522,000470: 24,2350           27133                                    INTEGRV                               
021523,000471: 24,2351           77214                           BOFF     VLOAD                                 
021524,000472: 24,2352           04347                                    SURFFLAG                              
021525,000473: 24,2353           50216                                    P20LEMC4                              
021526,000474: 24,2354           01661                                    RCVLEM                                
021527,000475: 24,2355           77742                           VSR2                                           
021528,000476: 24,2356           26352                           STOVL    LMPOS                                 
021529,000477: 24,2357           01667                                    VCVLEM                                
021530,000478: 24,2360           77742                           VSR2                                           
021531,000479: 24,2361           02360                           STORE    LMVEL                                 
021532,000480: 24,2362           77650                           GOTO                                           
021533,000481: 24,2363           01757                                    LS21X                                 
021534,000482: 
021535,000483: 24,2364           45014        UPPSV3             CLEAR    CALL                                  
021536,000484: 24,2365           01674                                    VINTFLAG                              
021537,000485: 24,2366           27133                                    INTEGRV                               
021538,000486: 24,2367           77624                           CALL                                           
021539,000487: 24,2370           11210                                    GRP2PC                                
021540,000488: 24,2371           77624                           CALL                                           
021541,000489: 24,2372           27410                                    INTSTALL                              
021542,000490: 24,2373           71214                           SET      DLOAD                                 
021543,000491: 24,2374           01474                                    VINTFLAG                              
021544,000492: 24,2375           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.
021545,000493: 24,2376           77650                           GOTO                                           
021546,000494: 24,2377           50345                                    UPPSV4                                

Page 505

021548,000496: 24,2400  E7,1456                                  EBANK=   LOSCOUNT                              
021549,000497: 24,2400                                           COUNT*   $$/P22                                
021550,000498: 

Page 506

021552,000500:                                                                                                  #  PROGRAM DESCRIPTION
021553,000501: 
021554,000502:                                                                                                  #        PREFERRED TRACKING ATTITUDE PROGRAM P25
021555,000503:                                                                                                  #        MOD NO - 3
021556,000504:                                                                                                  #        BY P. VOLANTE
021557,000505: 
021558,000506:                                                                                                  #  FUNCTIONAL DESCRIPTION
021559,000507: 
021560,000508:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021561,000509:                                                                                                  #        ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021562,000510:                                                                                                  #        CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021563,000511:                                                                                                  #        CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021564,000512: 
021565,000513:                                                                                                  #  CALLING SEQUENCE -
021566,000514: 
021567,000515:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E25E
021568,000516: 
021569,000517:                                                                                                  #  SUBROUTINES CALLED -
021570,000518: 
021571,000519:                                                                                                  #        BANKCALL                                        FLAGUP
021572,000520:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      ENDOFJOB
021573,000521:                                                                                                  #        R61LEM  (PREF TRK ATT ROUT)                     WAITLIST
021574,000522:                                                                                                  #        TASKOVER                                        FINDVAC
021575,000523: 
021576,000524:                                                                                                  #  NORMAL EXIT MODES -
021577,000525: 
021578,000526:                                                                                                  #        P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021579,000527:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021580,000528: 
021581,000529:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021582,000530: 
021583,000531:                                                                                                  #        NONE
021584,000532: 
021585,000533:                                                                                                  #  OUTPUT
021586,000534: 
021587,000535:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021588,000536: 
021589,000537:                                                                                                  #  FLAGS SET + RESET
021590,000538: 
021591,000539:                                                                                                  #        TRACKFLG, P25FLAG
021592,000540: 
021593,000541:                                                                                                  #  DEBRIS
021594,000542: 
021595,000543:                                                                                                  #        NONE
021596,000544: 
021597,000545: 24,2400  E7,1456                                  EBANK=   LOSCOUNT                              
021598,000546: 24,2400                                           COUNT*   $$/P25                                
021599,000547: 24,2400           05327        PROG25             TC       2PHSCHNG                              
021600,000548: 24,2401           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
021601,000549: 24,2402           05022                           OCT      05022                                 
021602,000550: 24,2403           26000                           OCT      26000                                 #  PRIORITY 26
021603,000551: 
021604,000552: 24,2404           04616                           TC       BANKCALL                              
021605,000553: 24,2405           11233                           CADR     R02BOTH                               #  IMU STATUS CHECK
021606,000554: 24,2406           05504                           TC       UPFLAG                                
021607,000555: 24,2407           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021608,000556: 24,2410           05504                           TC       UPFLAG                                
021609,000557: 24,2411           00006                           ADRES    P25FLAG                               #  SET P25FLAG
021610,000558: 24,2412           05516                           TC       DOWNFLAG                              
021611,000559: 24,2413           00010                           ADRES    RNDVZFLG                              
021612,000560: 24,2414           05353        P25LEM1            TC       PHASCHNG                              
021613,000561: 24,2415           04022                           OCT      04022                                 
021614,000562: 24,2416           34743                           CAF      P25FLBIT                              
021615,000563: 24,2417           70074                           MASK     STATE                                 #  IS P25FLAG SET
021616,000564: 24,2420           00006                           EXTEND                                         
021617,000565: 24,2421           15155                           BZF      ENDOFJOB                              
021618,000566: 24,2422           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?

Page 507

021620,000568: 24,2423           70075                           MASK     STATE      +1                         
021621,000569: 24,2424           00006                           EXTEND                                         
021622,000570: 24,2425           12433                           BZF      P25LMWT1                              #  NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021623,000571: 24,2426           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
021624,000572: 24,2427           55745                           TS       R65CNTR                               
021625,000573: 24,2430           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
021626,000574: 24,2431           46123                           CADR     R65LEM                                
021627,000575: 24,2432           02414                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
021628,000576: 24,2433           32444        P25LMWT1           CAF      60SCNDS                               
021629,000577: 24,2434           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
021630,000578: 24,2435           02437                           ADRES    P25LEM2                               
021631,000579: 24,2436           05155                           TC       ENDOFJOB                              
021632,000580: 24,2437           35024        P25LEM2            CAF      PRIO14                                
021633,000581: 24,2440           05105                           TC       FINDVAC                               
021634,000582: 24,2441  E7,1456                                  EBANK=   LOSCOUNT                              
021635,000583: 24,2441           02414 50067                     2CADR    P25LEM1                               
021636,000584: 
021637,000585: 24,2443           05261                           TC       TASKOVER                              
021638,000586: 24,2444           13560        60SCNDS            DEC      6000       B-14                       
021639,000587: 

Page 508

021641,000589:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
021642,000590:                                                                                                  #  PROGRAM DESCRIPTION
021643,000591: 
021644,000592:                                                                                                  #        MOD NO - 2
021645,000593:                                                                                                  #        BY P VOLANTE
021646,000594: 
021647,000595:                                                                                                  #  FUNCTIONAL DESCRIPTION
021648,000596: 
021649,000597:                                                                                                  #        TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021650,000598:                                                                                                  #        LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021651,000599: 
021652,000600:                                                                                                  #  CALLING SEQUENCE -
021653,000601: 
021654,000602:                                                                                                  #        TC      BANKCALL
021655,000603:                                                                                                  #        CADR    R22LEM
021656,000604: 
021657,000605:                                                                                                  #  SUBROUTINES CALLED -
021658,000606: 
021659,000607:                                                                                                  #        LSR22.1         GOFLASH         WAITLIST
021660,000608:                                                                                                  #        LSR22.2         PRIOLARM        BANKCALL
021661,000609:                                                                                                  #        LSR22.3         R61LEM
021662,000610: 
021663,000611:                                                                                                  #  NORMAL EXIT MODES -
021664,000612: 
021665,000613:                                                                                                  #        R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021666,000614:                                                                                                  #        UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021667,000615:                                                                                                  #        R22 WILL TERMINATE SELF.
021668,000616: 
021669,000617:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021670,000618: 
021671,000619:                                                                                                  #        PRIORITY ALARM
021672,000620:                                                                                                  #        PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021673,000621: 
021674,000622:                                                                                                  #  OUTPUT
021675,000623: 
021676,000624:                                                                                                  #        SEE OUTPUT FROM LSR22.3
021677,000625: 
021678,000626:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021679,000627: 
021680,000628:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021681,000629: 
021682,000630:                                                                                                  #  FLAGS SET + RESET
021683,000631: 
021684,000632:                                                                                                  #        NOANGFLG
021685,000633: 
021686,000634:                                                                                                  #  DEBRIS
021687,000635: 
021688,000636:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021689,000637: 
021690,000638: 24,2445  E7,1737                                  EBANK=   LRS22.1X                              
021691,000639: 24,2445                                           COUNT*   $$/R22                                
021692,000640: 24,2445           05353        R22LEM             TC       PHASCHNG                              
021693,000641: 24,2446           04022                           OCT      04022                                 
021694,000642: 24,2447           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
021695,000643: 24,2450           70074                           MASK     STATE                                 
021696,000644: 24,2451           00006                           EXTEND                                         
021697,000645: 24,2452           15155                           BZF      ENDOFJOB                              #  NO - EXIT R22 AND P20
021698,000646: 24,2453           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021699,000647: 24,2454           70075                           MASK     STATE      +1                         
021700,000648: 24,2455           00006                           EXTEND                                         
021701,000649: 24,2456           12640                           BZF      R22WAIT                               #  NO WAIT
021702,000650: 24,2457           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
021703,000651: 24,2460           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARS IT
021704,000652: 24,2461           02012                           RAND     CHAN12                                
021705,000653: 24,2462           00006                           EXTEND                                         
021706,000654: 24,2463           12111                           BZF      P20LEMA                               #  NO - RETURN TO P20
021707,000655: 24,2464           34752                           CAF      BIT2                                  #  YES
021708,000656: 24,2465           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
021709,000657: 24,2466           02033                           RAND     CHAN33                                

Page 509

021711,000659: 24,2467           00006                           EXTEND                                         
021712,000660: 24,2470           12472                           BZF      +2                                    #  YES CONTINUE
021713,000661: 24,2471           02135                           TC       P20LEMB5                              #  NO - SET IT
021714,000662: 24,2472           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021715,000663: 24,2473           74737                           MASK     RCDU0BIT                              
021716,000664: 24,2474           00006                           EXTEND                                         
021717,000665: 24,2475           12631                           BZF      R22LEM42                              #  CDUS BEING ZEROED
021718,000666: 24,2476           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS,AN EXTRA RADAR
021719,000667: 24,2477           00152                           OCT      00152                                 #  READING IS TAKEN, SO BAD DATA ISN'T USED
021720,000668: 24,2500           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
021721,000669: 24,2501           64366                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
021722,000670: 24,2502           50154                           INDEX    MPAC                                  
021723,000671: 24,2503           02504                           TC       +1                                    
021724,000672: 24,2504           02525                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
021725,000673: 24,2505           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021726,000674: 24,2506           32664                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
021727,000675: 24,2507           04616                           TC       BANKCALL                              
021728,000676: 24,2510           21563                           CADR     PRIOLARM                              
021729,000677: 24,2511           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021730,000678: 24,2512           02515                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
021731,000679: 24,2513           02506                           TC       -5                                    #  ENTER (ILLEGAL OPTION)
021732,000680: 24,2514           05155                           TC       ENDOFJOB                              
021733,000681: 
021734,000682: 24,2515           05353        R22LEM1            TC       PHASCHNG                              
021735,000683: 24,2516           04022                           OCT      04022                                 
021736,000684: 24,2517           32665                           CAF      V06N05                                #  DISPLAY DELTA THETA
021737,000685: 24,2520           04616                           TC       BANKCALL                              
021738,000686: 24,2521           20510                           CADR     PRIODSP                               
021739,000687: 24,2522           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021740,000688: 24,2523           02525                           TC       R22LEM2                               #  PROC (OK CONTINUE)
021741,000689: 24,2524           02217                           TC       P20LEMC                               #  ENTER (RECYCLE)
021742,000690: 24,2525           05353        R22LEM2            TC       PHASCHNG                              
021743,000691: 24,2526           04022                           OCT      04022                                 
021744,000692: 24,2527           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021745,000693: 24,2530           02545                           TC       R22LEM3                               #  YES - BYPASS FLAG CHECKS AND LRS22.2
021746,000694: 24,2531           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
021747,000695: 24,2532           74747                           MASK     TRACKBIT                              
021748,000696: 24,2533           00006                           EXTEND                                         
021749,000697: 24,2534           12640                           BZF      R22WAIT                               #  NO - WAIT
021750,000698: 24,2535           04616                           TC       BANKCALL                              #  YES
021751,000699: 24,2536           51334                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021752,000700: 24,2537           50154                           INDEX    MPAC                                  
021753,000701: 24,2540           02541                           TC       +1                                    
021754,000702: 24,2541           02545                           TC       R22LEM3                               #  NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021755,000703: 24,2542           04616                           TC       BANKCALL                              
021756,000704: 24,2543           46116                           CADR     R61LEM                                
021757,000705: 24,2544           02640                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
021758,000706: 24,2545           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
021759,000707: 24,2546           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)

Page 510

021761,000709: 24,2547           00006                           EXTEND                                         
021762,000710: 24,2550           12631                           BZF      R22LEM42                              #  BRANCH - YES
021763,000711: 24,2551           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
021764,000712: 24,2552           74745                           MASK     UPDATBIT                              
021765,000713: 24,2553           00006                           EXTEND                                         
021766,000714: 24,2554           12631                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
021767,000715: 24,2555           37717                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
021768,000716: 24,2556           55055                           TS       PHSPRDT2                              
021769,000717: 
021770,000718: 24,2557           06042                           TC       INTPRET                               
021771,000719: 24,2560           77650                           GOTO                                           
021772,000720: 24,2561           54416                                    LSR22.3                               
021773,000721: 24,2562           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
021774,000722: 24,2563           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
021775,000723: 24,2564           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
021776,000724: 24,2565           12624                           TCF      R22LEM44                              
021777,000725: 24,2566           77776        R22LEM96           EXIT                                           
021778,000726: 24,2567           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
021779,000727: 24,2570           55746                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
021780,000728: 24,2571           05353                           TC       PHASCHNG                              
021781,000729: 24,2572           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
021782,000730: 24,2573           37720                           CAF      PRIO27                                #  PROTECT DISPLAY
021783,000731: 24,2574           05072                           TC       NOVAC                                 
021784,000732: 24,2575  E7,1746                                  EBANK=   N49FLAG                               
021785,000733: 24,2575           02645 50067                     2CADR    N49DSP                                
021786,000734: 
021787,000735: 24,2577           06042                           TC       INTPRET                               
021788,000736: 24,2600           77735                           SLOAD                                          
021789,000737: 24,2601           03747                                    N49FLAG                               
021790,000738: 24,2602           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
021791,000739: 24,2603           50600                                    -3                                    #  SETTING CHANGED - BRANCH - NO
021792,000740: 24,2604           50612                                    R22LEM7                               #  PROCEED
021793,000741: 24,2605           77650                           GOTO                                           #  DISPLAY ANSWERED BY RECYCLE - INCORPORATE
021794,000742: 24,2606           03675                                    LGRET                                 #        NEXT MEASUREMENT
021795,000743: 24,2607           44752        V34TON49           CS       TWO                                   
021796,000744: 24,2610           55746                           TS       N49FLAG                               
021797,000745: 24,2611           05155                           TC       ENDOFJOB                              
021798,000746: 24,2612           77776        R22LEM7            EXIT                                           
021799,000747: 24,2613           31746                           CA       N49FLAG                               #  WAS ANSWER TO DISPLAY PRO OR TERM
021800,000748: 24,2614           64752                           AD       TWO                                   
021801,000749: 24,2615           00006                           EXTEND                                         
021802,000750: 24,2616           12445                           BZF      R22LEM                                #  BRANCH - TERM - TAKE ANOTHER RR READING
021803,000751: 24,2617           06042                           TC       INTPRET                               
021804,000752: 24,2620           77624                           CALL                                           
021805,000753: 24,2621           11210                                    GRP2PC                                #  PHASE CHANGE AND
021806,000754: 24,2622           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
021807,000755: 24,2623           55431                                    ASTOK                                 
021808,000756: 24,2624           25462        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
021809,000757: 24,2625           02670                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021810,000758: 24,2626           02642                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS

Page 511

021812,000760: 24,2627           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
021813,000761: 24,2630           02634                           TC       R22LEM45                              #  R65COUNTER = 5
021814,000762: 24,2631           02670        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021815,000763: 24,2632           02642                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021816,000764: 24,2633           34752                           CA       TWO                                   #  NO - SET R65COUNTER = 2
021817,000765: 24,2634           55745        R22LEM45           TS       R65CNTR                               
021818,000766: 24,2635           04616                           TC       BANKCALL                              
021819,000767: 24,2636           46123                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
021820,000768: 24,2637           02445                           TC       R22LEM                                
021821,000769: 24,2640           32667        R22WAIT            CAF      1500DEC                               
021822,000770: 24,2641           02233                           TC       P20LEMWT   +1                         
021823,000771: 
021824,000772: 24,2642           04616        R22LEM46           TC       BANKCALL                              
021825,000773: 24,2643           01735                           CADR     2SECDELY                              #  WAIT 2 SECONDS AND TAKE ANOTHER MARK
021826,000774: 24,2644           02445                           TC       R22LEM                                
021827,000775: 
021828,000776: 24,2645           32666        N49DSP             CAF      V06N49NB                              
021829,000777: 24,2646           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
021830,000778: 24,2647           20510                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021831,000779: 24,2650           02607                           TC       V34TON49                              #  TERMINATE - SET N49FLAG = -2
021832,000780: 24,2651           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
021833,000781: 24,2652           55746                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
021834,000782: 24,2653           05155                           TC       ENDOFJOB                              
021835,000783: 24,2654           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
021836,000784: 24,2655           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
021837,000785: 24,2656           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
021838,000786: 24,2657           53112                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
021839,000787: 24,2660           04616                           TC       BANKCALL                              #  BAD DATA
021840,000788: 24,2661           17705                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
021841,000789: 24,2662           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021842,000790: 24,2663           02445                           TC       R22LEM                                #  READ SUCCESSFUL - CONTINUE AT R22
021843,000791: 
021844,000792: 24,2664           00525        ALRM525            OCT      00525                                 
021845,000793: 24,2665           01405        V06N05             VN       00605                                 
021846,000794: 24,2666           01461        V06N49NB           VN       00649                                 
021847,000795: 24,2667           02734        1500DEC            DEC      1500       B-14                       
021848,000796: 
021849,000797:                                                                                                  #  LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021850,000798:                                                                                                  #        RETURNS TO CALLER +1 IF P22FLAG SET
021851,000799:                                                                                                  #                TO CALLER +2 IF P22FLAG NOT SET
021852,000800: 
021853,000801: 24,2670                                           COUNT*   $$/P22                                
021854,000802: 24,2670           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
021855,000803: 24,2671           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
021856,000804: 24,2672           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
021857,000805: 24,2673           24002                           INCR     Q                                     #  NOT SET
021858,000806: 24,2674           00002                           TC       Q                                     #  RETURN
021859,000807: 

Page 512

021861,000809:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
021862,000810:                                                                                                  #  PROGRAM DESCRIPTION
021863,000811: 
021864,000812:                                                                                                  #        MOD NO - 2
021865,000813:                                                                                                  #        BY P VOLANTE
021866,000814: 
021867,000815:                                                                                                  #  FUNCTIONAL DESCRIPTION
021868,000816: 
021869,000817:                                                                                                  #        TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021870,000818:                                                                                                  #        OF THE CSM IS ACCOMPLISHED BY THE RADAR.  ROUTINE IS CALLED BY P20.
021871,000819: 
021872,000820:                                                                                                  #  CALLING SEQUENCE -
021873,000821: 
021874,000822:                                                                                                  #        TC      BANKCALL
021875,000823:                                                                                                  #        CADR    R21LEM
021876,000824: 
021877,000825:                                                                                                  #  SUBROUTINES CALLED -
021878,000826: 
021879,000827:                                                                                                  #        FINDVAC         FLAGUP          ENDOFJOB        PRIOLARM
021880,000828:                                                                                                  #        NOVAC           INTPRET         LPS20.1         PHASCHNG
021881,000829:                                                                                                  #        WAITLIST        JOBSLEEP        JOBWAKE         FLAGDOWN
021882,000830:                                                                                                  #        TASKOVER        BANKCALL        RADSTALL        RRDESSM
021883,000831: 
021884,000832:                                                                                                  #  NORMAL EXIT MODES
021885,000833:                                                                                                  #        
021886,000834:                                                                                                  #        WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021887,000835:                                                                                                  #        WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021888,000836: 
021889,000837:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021890,000838: 
021891,000839:                                                                                                  #        PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021892,000840:                                                                                                  #        THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021893,000841:                                                                                                  #        ACQUISITION
021894,000842: 
021895,000843:                                                                                                  #  OUTPUT
021896,000844: 
021897,000845:                                                                                                  #        SEE LPS20.1, RRDESSM
021898,000846: 
021899,000847:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021900,000848: 
021901,000849:                                                                                                  #        RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021902,000850: 
021903,000851:                                                                                                  #  FLAGS SET + RESET
021904,000852: 
021905,000853:                                                                                                  #        LOSCMFLG        LOKONSW
021906,000854: 
021907,000855:                                                                                                  #  DEBRIS
021908,000856: 
021909,000857:                                                                                                  #        SEE LPS20.1, RRDESSM
021910,000858: 
021911,000859: 24,2675  E7,1456                                  EBANK=   LOSCOUNT                              
021912,000860: 24,2675                                           COUNT*   $$/R21                                
021913,000861: 24,2675           44736        R21LEM             CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
021914,000862: 24,2676           00006                           EXTEND                                         

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

021916,000864: 24,2677           03012                           WAND     CHAN12                                
021917,000865: 24,2700           02670                           TC       LUNSFCHK                              
021918,000866: 24,2701           02706                           TC       R21LEM5                               
021919,000867: 24,2702           34755                           CAF      ZERO                                  #  COMMAND ANTENNA TO MODE CENTER
021920,000868: 24,2703           55106                           TS       TANG                                  #  IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021921,000869: 24,2704           55107                           TS       TANG       +1                         
021922,000870: 24,2705           02716                           TC       R21LEM6                               
021923,000871: 24,2706           34740        R21LEM5            CAF      BIT12                                 
021924,000872: 24,2707           70110                           MASK     RADMODES                              
021925,000873: 24,2710           10000                           CCS      A                                     
021926,000874: 24,2711           02726                           TC       R21LEM10                              
021927,000875: 24,2712           34735                           CAF      BIT15                                 
021928,000876: 24,2713           55106                           TS       TANG                                  
021929,000877: 24,2714           44736                           CS       HALF                                  
021930,000878: 24,2715           55107                           TS       TANG       +1                         
021931,000879: 

Page 513

021933,000881: 24,2716           05516        R21LEM6            TC       DOWNFLAG                              
021934,000882: 24,2717           00012                           ADRES    LOKONSW                               
021935,000883: 24,2720           04616                           TC       BANKCALL                              
021936,000884: 24,2721           52506                           CADR     RRDESNB                               
021937,000885: 24,2722           02723                           TC       +1                                    
021938,000886: 24,2723           04616                           TC       BANKCALL                              
021939,000887: 24,2724           17705                           CADR     RADSTALL                              
021940,000888: 24,2725           02761                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE - ISSUE ALARM
021941,000889: 24,2726           05504        R21LEM10           TC       UPFLAG                                
021942,000890: 24,2727           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
021943,000891: 24,2730           32310                           CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECONDS)
021944,000892: 24,2731           55113                           TS       DESCOUNT                              #  TO DESIGNATE AND LOCK ON
021945,000893: 24,2732           36250        R21LEM2            CAF      THREE                                 
021946,000894: 24,2733           55456                           TS       LOSCOUNT                              
021947,000895: 24,2734           06042        R21LEM1            TC       INTPRET                               
021948,000896: 24,2735           43234                           RTB      DAD                                   
021949,000897: 24,2736           21574                                    LOADTIME                              
021950,000898: 24,2737           11122                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021951,000899: 24,2740           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
021952,000900: 24,2741           51256                                    LPS20.1                               
021953,000901: 24,2742           77776                           EXIT                                           
021954,000902: 24,2743           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR - ON DESIRED
021955,000903: 24,2744           00012                           ADRES    LOKONSW                               
021956,000904: 24,2745           05516                           TC       DOWNFLAG                              
021957,000905: 24,2746           00126                           ADRES    NORRMON                               
021958,000906: 24,2747           06042                           TC       INTPRET                               
021959,000907: 24,2750           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
021960,000908: 24,2751           52404                                    RRDESSM                               #  DESIGNATE ROUTINE
021961,000909: 24,2752           77776                           EXIT                                           
021962,000910: 24,2753           03002                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
021963,000911:                                                                                                  #  ON LUNAR SURFACE
021964,000912: 24,2754           02111                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
021965,000913: 24,2755           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
021966,000914: 24,2756           17705                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021967,000915: 24,2757           02761                           TC       +2                                    #  BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021968,000916: 24,2760           02770                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021969,000917: 24,2761           33000        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
021970,000918: 24,2762           04616                           TC       BANKCALL                              
021971,000919: 24,2763           21563                           CADR     PRIOLARM                              
021972,000920: 24,2764           06025                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021973,000921: 24,2765           02775                           TC       R21SRCH                               #  PROC
021974,000922: 24,2766           02211                           TC       P20LEMC3                              
021975,000923: 24,2767           05155                           TC       ENDOFJOB                              
021976,000924: 24,2770           05516        R21END             TC       DOWNFLAG                              
021977,000925: 24,2771           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
021978,000926: 24,2772           02670                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021979,000927: 24,2773           02232                           TC       P20LEMWT                              #  YES - BYPASS V50 N 72 DISPLAY
021980,000928: 24,2774           03123                           TC       R21DISP                               #  PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021981,000929: 24,2775           05353        R21SRCH            TC       PHASCHNG                              
021982,000930: 24,2776           04022                           OCT      04022                                 

Page 514

021984,000932: 24,2777           03210                           TC       R24LEM                                #  SEARCH ROUTINE
021985,000933: 24,3000           00503        ALRM503            OCT      00503                                 
021986,000934: 24,3001           00527        ALRM527            OCT      527                                   
021987,000935: 
021988,000936: 24,3002           32310        R21LEM4            CAF      MAXTRIES                              #  SET UP COUNTER FOR
021989,000937: 24,3003           55423                           TS       REPOSCNT                              #  60 PASSES (APPROX 600 SECS.)
021990,000938: 24,3004           05504                           TC       UPFLAG                                
021991,000939: 24,3005           00005                           ADRES    FSPASFLG                              #  SET FIRST PASS FLAG
021992,000940: 24,3006           05516                           TC       DOWNFLAG                              #  RESET LOS BEING
021993,000941: 24,3007           00041                           ADRES    LOSCMFLG                              #  COMPUTED FLAG
021994,000942: 24,3010           06042                           TC       INTPRET                               
021995,000943: 24,3011           77634        R21LEM12           RTB                                            
021996,000944: 24,3012           21574                                    LOADTIME                              
021997,000945: 24,3013           77615        R21LEM00           DAD                                            
021998,000946: 24,3014           11120                                    TENSEC                                #  TIME T = T + 10 SECS.
021999,000947: 24,3015           03425                           STORE    REPOSTM                               #  SAVE FOR LONGCALL AND UPPSV
022000,000948: 24,3016           34041                           STCALL   TDEC1                                 
022001,000949: 24,3017           51256                                    LPS20.1                               #  COMPUTE LOS AT TIME T
022002,000950: 24,3020           77624                           CALL                                           
022003,000951: 24,3021           52404                                    RRDESSM                               
022004,000952: 24,3022           77776                           EXIT                                           
022005,000953: 24,3023           03035                           TC       R21LEM13                              #  LOS NOT IN MODE 2 COVERAGE
022006,000954: 24,3024           05155                           TC       ENDOFJOB                              #  VEHICLE MANEUVER REQUIRED
022007,000955: 24,3025           06032                           TC       KILLTASK                              
022008,000956: 24,3026           52604                           CADR     BEGDES                                
022009,000957: 24,3027           06042                           TC       INTPRET                               
022010,000958: 24,3030           43014                           BOF      CLRGO                                 
022011,000959: 24,3031           00345                                    FSPASFLG                              #  FIRST PASS THRU REPOSITION
022012,000960: 24,3032           51045                                    R21LEMB                               #  NO - GO TO CONTINUOUS DESIGNATE
022013,000961: 24,3033           00225                                    FSPASFLG                              #  YES - RESET FIRST PASS FLAG
022014,000962: 24,3034           51042                                    R21LEM50                              
022015,000963: 24,3035           11423        R21LEM13           CCS      REPOSCNT                              #  HAVE WE TRIED 60 TIMES?
022016,000964: 24,3036           03040                           TC       R21LEM7                               #  NO - ADD 10 SECS.  RECOMPUTE LOS
022017,000965: 24,3037           03107                           TC       R21LEM11                              #  YES - PUT OUT ALARM 530
022018,000966: 24,3040           55423        R21LEM7            TS       REPOSCNT                              
022019,000967: 24,3041           06042                           TC       INTPRET                               
022020,000968: 24,3042           52145        R21LEM50           DLOAD    GOTO                                  
022021,000969: 24,3043           03425                                    REPOSTM                               
022022,000970: 24,3044           51013                                    R21LEM00                              
022023,000971: 24,3045           77745        R21LEMB            DLOAD                                          
022024,000972: 24,3046           03425                                    REPOSTM                               
022025,000973: 24,3047           34041                           STCALL   TDEC1                                 
022026,000974: 24,3050           50312                                    UPPSV                                 
022027,000975: 24,3051           77776                           EXIT                                           
022028,000976: 24,3052           05504                           TC       UPFLAG                                #  SET RADMODES BIT 15 FOR
022029,000977: 24,3053           00264                           ADRES    CDESFLAG                              #  CONTINUOUS DESIGNATION
022030,000978: 24,3054           05516                           TC       DOWNFLAG                              
022031,000979: 24,3055           00012                           ADRES    LOKONSW                               
022032,000980: 24,3056           05504                           TC       UPFLAG                                

Page 515

022034,000982: 24,3057           00126                           ADRES    NORRMON                               
022035,000983: 24,3060           04616                           TC       BANKCALL                              
022036,000984: 24,3061           52506                           CADR     RRDESNB                               
022037,000985: 24,3062           03063                           TC       +1                                    
022038,000986: 24,3063           06042                           TC       INTPRET                               
022039,000987: 24,3064           44234                           RTB      BDSU                                  
022040,000988: 24,3065           21574                                    LOADTIME                              #  COMPUTE DELTA TIME
022041,000989: 24,3066           03425                                    REPOSTM                               #  FOR LONGCALL
022042,000990: 24,3067           03427                           STORE    DELTATM                               
022043,000991: 24,3070           77776                           EXIT                                           
022044,000992: 24,3071           00006                           EXTEND                                         
022045,000993: 24,3072           31427                           DCA      DELTATM                               
022046,000994: 24,3073           05277                           TC       LONGCALL                              
022047,000995: 24,3074  E7,1456                                  EBANK=   LOSCOUNT                              
022048,000996: 24,3074           03077 50067                     2CADR    R21LEM9                               
022049,000997: 
022050,000998: 24,3076           05155                           TC       ENDOFJOB                              
022051,000999: 24,3077           06032        R21LEM9            TC       KILLTASK                              
022052,001000: 24,3100           52613                           CADR     STDESIG                               
022053,001001: 24,3101           06011                           TC       CLRADMOD                              
022054,001002: 24,3102           37717                           CAF      PRIO26                                
022055,001003: 24,3103           05105                           TC       FINDVAC                               
022056,001004: 24,3104  E7,1456                                  EBANK=   LOSCOUNT                              
022057,001005: 24,3104           02726 50067                     2CADR    R21LEM10                              
022058,001006: 
022059,001007: 24,3106           05261                           TC       TASKOVER                              
022060,001008: 24,3107           33116        R21LEM11           CAF      ALRM530                               #  ALARM 530 - LOS NOT IN COVERAGE
022061,001009: 24,3110           04616                           TC       BANKCALL                              #  AFTER TRYING TO DESIGNATE FOR
022062,001010: 24,3111           21563                           CADR     PRIOLARM                              #  600 SECS.
022063,001011: 24,3112           06025                           TC       GOTOV56                               
022064,001012: 24,3113           06025                           TC       GOTOV56                               
022065,001013: 24,3114           06025                           TC       GOTOV56                               
022066,001014: 24,3115           05155                           TC       ENDOFJOB                              
022067,001015: 24,3116           00530        ALRM530            OCT      00530                                 
022068,001016: 24,3117           00000 01750  TENSEC             2DEC     1000       B-28                       
022069,001017: 
022070,001018: 24,3121           00000 00062  HALFSEC            2DEC     50         B-28                       
022071,001019: 
022072,001020: 24,3123           05353        R21DISP            TC       PHASCHNG                              
022073,001021: 24,3124           04022                           OCT      04022                                 
022074,001022: 24,3125           33136                           CAF      V06N72PV                              #  FLASH V 50 N 72 - PLEASE PERFORM RR
022075,001023: 24,3126           04616                           TC       BANKCALL                              #  MAIN LOBE LOCKON VERIFICATION
022076,001024: 24,3127           20711                           CADR     GOPERF2R                              
022077,001025: 24,3130           06025                           TC       GOTOV56                               #  TERMINATE EXITS VIA V 56
022078,001026: 24,3131           02232                           TC       P20LEMWT                              #  PROCEED CONTINUES TO R22
022079,001027: 24,3132           03125                           TC       -5                                    #  ENTER ILLEGAL
022080,001028: 24,3133           34745                           CAF      BIT7                                  
022081,001029: 24,3134           05464                           TC       LINUS                                 #  SET BITS TO MAKE THIS A PRIORITY DISPLAY
022082,001030: 24,3135           05155                           TC       ENDOFJOB                              
022083,001031: 

Page 516

022085,001033: 24,3136           01510        V06N72PV           VN       00672                                 
022086,001034: 

Page 517

022088,001036:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
022089,001037:                                                                                                  #  PROGRAM DESCRIPTION
022090,001038: 
022091,001039:                                                                                                  #        MOD NO - 2
022092,001040:                                                                                                  #        BY P VOLANTE
022093,001041: 
022094,001042:                                                                                                  #  FUNCTIONAL DESCRIPTION
022095,001043: 
022096,001044:                                                                                                  #        TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022097,001045: 
022098,001046:                                                                                                  #  CALLING SEQUENCE -
022099,001047: 
022100,001048:                                                                                                  #        TC      R23LEM
022101,001049: 
022102,001050:                                                                                                  #  SUBROUTINES CALLED
022103,001051: 
022104,001052:                                                                                                  #        BANKCALL        R61LEM
022105,001053:                                                                                                  #        SETMINDB        GOPERF1
022106,001054: 
022107,001055:                                                                                                  #  NORMAL EXIT MODES -
022108,001056: 
022109,001057:                                                                                                  #        IN RESPONSE TO THE GOPERF1      ,SELECTION OF ENTER WILL RECYCLE R23
022110,001058:                                                                                                  #                                        ,SELECTION OF PROC WILL CONTINUE R23
022111,001059:                                                                                                  #                                        ,SELECTION OF TERM WILL TERMINATE R23 + P20
022112,001060: 
022113,001061:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022114,001062: 
022115,001063:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022116,001064: 
022117,001065:                                                                                                  #  OUTPUT
022118,001066: 
022119,001067:                                                                                                  #        N.A.
022120,001068: 
022121,001069:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
022122,001070: 
022123,001071:                                                                                                  #        ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022124,001072: 
022125,001073: 24,3137     1142                                  EBANK=   GENRET                                
022126,001074: 24,3137                                           COUNT*   $$/R23                                
022127,001075: 24,3137           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
022128,001076: 24,3140           00126                           ADRES    NORRMON                               
022129,001077: 24,3141           00004                           INHINT                                         
022130,001078: 24,3142           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
022131,001079: 24,3143           40141                           CADR     SETMINDB                              
022132,001080: 24,3144           00003                           RELINT                                         
022133,001081: 24,3145           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
022134,001082: 24,3146           00006                           EXTEND                                         
022135,001083: 24,3147           05012                           WOR      CHAN12                                
022136,001084: 24,3150           33207                           CAF      OCT205                                
022137,001085: 24,3151           04616                           TC       BANKCALL                              
022138,001086: 24,3152           20624                           CADR     GOPERF1                               
022139,001087: 24,3153           03200                           TC       R23LEM2                               #  TERMINATE
022140,001088: 24,3154           03156                           TC       R23LEM11                              #  PROCEDE
022141,001089: 24,3155           03203                           TC       R23LEM3                               #  ENTER - DO ANOTHER MANUVER
022142,001090: 24,3156           00004        R23LEM11           INHINT                                         
022143,001091: 24,3157           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
022144,001092: 24,3160           00035                           ADRES    CDUT                                  
022145,001093: 24,3161           03170                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
022146,001094: 24,3162           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
022147,001095: 24,3163           40115                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
022148,001096: 24,3164           00003                           RELINT                                         
022149,001097: 24,3165           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022150,001098: 24,3166           00126                           ADRES    NORRMON                               
022151,001099: 24,3167           02163                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
022152,001100: 24,3170           00003        OUTOFLIM           RELINT                                         

Page 518

022154,001102: 24,3171           33206                           CAF      OCT501PV                              
022155,001103: 24,3172           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
022156,001104: 24,3173           21563                           CADR     PRIOLARM                              #  LIMITS
022157,001105: 24,3174           03200                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022158,001106: 24,3175           03171                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
022159,001107: 24,3176           03203                           TC       R23LEM3                               #  RECYCLE - DO ANOTHER MANUVER
022160,001108: 24,3177           05155                           TC       ENDOFJOB                              
022161,001109: 24,3200           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022162,001110: 24,3201           00126                           ADRES    NORRMON                               
022163,001111: 24,3202           06025                           TC       GOTOV56                               #  AND EXIT VIA V56
022164,001112: 24,3203           04616        R23LEM3            TC       BANKCALL                              
022165,001113: 24,3204           46116                           CADR     R61LEM                                
022166,001114: 24,3205           03145                           TC       R23LEM1                               
022167,001115: 
022168,001116: 24,3206           00501        OCT501PV           OCT      501                                   
022169,001117: 24,3207           00205        OCT205             OCT      205                                   
022170,001118: 

Page 519

022172,001120:                                                                                                  #  SEARCH ROUTINE R24LEM
022173,001121:                                                                                                  #  PROGRAM DESCRIPTION
022174,001122: 
022175,001123:                                                                                                  #        MOD NO - 2
022176,001124:                                                                                                  #        BY P. VOLANTE
022177,001125: 
022178,001126:                                                                                                  #  FUNCTIONAL DESCRIPTION
022179,001127: 
022180,001128:                                                                                                  #        TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022181,001129:                                                                                                  #        FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022182,001130:                                                                                                  #        THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022183,001131: 
022184,001132:                                                                                                  #  CALLING SEQUENCE
022185,001133: 
022186,001134:                                                                                                  #        CAF     PRIONN
022187,001135:                                                                                                  #        TC      FINDVAC
022188,001136:                                                                                                  #        EBANK=  DATAGOOD
022189,001137:                                                                                                  #        2CADR   R24LEM
022190,001138: 
022191,001139:                                                                                                  #  SUBROUTINES CALLED
022192,001140: 
022193,001141:                                                                                                  #        FLAGUP          FLAGDOWN        BANKCALL
022194,001142:                                                                                                  #        R61LEM          GOFLASHR        FINDVAC
022195,001143:                                                                                                  #        ENDOFJOB        NOVAC           LSR24.1
022196,001144: 
022197,001145:                                                                                                  #  NORMAL EXIT MODES -
022198,001146: 
022199,001147:                                                                                                  #        ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.  HE CAN EITHER
022200,001148:                                                                                                  #        REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022201,001149:                                                                                                  #        PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022202,001150: 
022203,001151:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022204,001152: 
022205,001153:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022206,001154: 
022207,001155:                                                                                                  #  OUTPUT -
022208,001156: 
022209,001157:                                                                                                  #        SEE OUTPUT FROM LSR24.1 + R61LEM
022210,001158: 
022211,001159:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022212,001160: 
022213,001161:                                                                                                  #        SEE INPUT FOR LSR24.1
022214,001162: 
022215,001163:                                                                                                  #  FLAGS SET + RESET
022216,001164: 
022217,001165:                                                                                                  #        SRCHOPT, ACMODFLG
022218,001166: 
022219,001167: 24,3210  E7,1733                                  EBANK=   DATAGOOD                              
022220,001168: 24,3210                                           COUNT*   $$/R24                                
022221,001169: 24,3210           05504        R24LEM             TC       UPFLAG                                
022222,001170: 24,3211           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
022223,001171: 24,3212           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
022224,001172: 24,3213           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
022225,001173: 24,3214           34755        R24LEM1            CAF      ZERO                                  
022226,001174: 24,3215           55733                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
022227,001175: 24,3216           55734                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
022228,001176: 24,3217           55735                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
022229,001177: 24,3220           05353        R24LEM2            TC       PHASCHNG                              
022230,001178: 24,3221           04022                           OCT      04022                                 
022231,001179: 24,3222           33255                           CAF      V16N80                                
022232,001180: 24,3223           04616                           TC       BANKCALL                              
022233,001181: 24,3224           20505                           CADR     PRIODSPR                              
022234,001182: 24,3225           06025                           TC       GOTOV56                               
022235,001183: 24,3226           03232                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
022236,001184: 
022237,001185: 24,3227           03236                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C

Page 520

022239,001187: 24,3230           04616                           TC       BANKCALL                              
022240,001188: 24,3231           55442                           CADR     LRS24.1                               
022241,001189: 24,3232           06032        R24END             TC       KILLTASK                              
022242,001190: 24,3233           55643                           CADR     CALLDGCH                              
022243,001191: 24,3234           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
022244,001192: 24,3235           12063                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
022245,001193: 
022246,001194:    6011                                           BLOCK    3                                     
022247,001195:    6000                                           SETLOC   FFTAG6                                
022248,001196:    6000                                           BANK                                           
022249,001197:    6011                                           COUNT*   $$/R24                                
022250,001198: 
022251,001199:    6011           46021        CLRADMOD           CS       BIT10+15                              
022252,001200:    6012           00004                           INHINT                                         
022253,001201:    6013           70110                           MASK     RADMODES                              
022254,001202:    6014           54110                           TS       RADMODES                              
022255,001203:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
022256,001204:    6016           00006                           EXTEND                                         
022257,001205:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
022258,001206: 
022259,001207:    6020           00002                           TC       Q                                     
022260,001208: 
022261,001209:    6021           41000        BIT10+15           OCT      41000                                 
022262,001210: 
022263,001211: 24,3236                                           BANK     24                                    
022264,001212: 24,2000                                           SETLOC   P20S                                  
022265,001213: 24,2000                                           BANK                                           
022266,001214: 24,3236                                           COUNT*   $$/R24                                
022267,001215: 
022268,001216: 24,3236           05353        R24LEM3            TC       PHASCHNG                              
022269,001217: 24,3237           04022                           OCT      04022                                 
022270,001218: 24,3240           06032                           TC       KILLTASK                              
022271,001219: 24,3241           55643                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
022272,001220: 24,3242           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES
022273,001221: 24,3243           34774                           CAF      .5SEC                                 
022274,001222: 24,3244           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
022275,001223: 24,3245           01736                           CADR     DELAYJOB                              
022276,001224: 24,3246           02670                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
022277,001225: 24,3247           03252                           TC       R24LEM4                               #  YES - DONT DO ATTITUDE MANEUVER
022278,001226: 24,3250           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
022279,001227: 24,3251           46116                           CADR     R61LEM                                #  ATTITUDE MANEUVER
022280,001228: 24,3252           34755        R24LEM4            CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
022281,001229: 24,3253           55303                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022282,001230:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
022283,001231: 24,3254           03220                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
022284,001232: 
022285,001233: 24,3255           04120        V16N80             VN       01680                                 
022286,001234: 

Page 521

022288,001236:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022289,001237:                                                                                                  #  PROGRAM DESCRIPTION
022290,001238: 
022291,001239:                                                                                                  #        MOD NO: 3               DATE: 4-11-67
022292,001240:                                                                                                  #        MOD BY: P VOLANTE  SDC
022293,001241: 
022294,001242:                                                                                                  #  FUNCTIONAL DESCRIPTION -
022295,001243: 
022296,001244:                                                                                                  #        TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022297,001245:                                                                                                  #        TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022298,001246:                                                                                                  #        ATTITUDE.
022299,001247: 
022300,001248:                                                                                                  #  CALLING SEQUENCE -
022301,001249: 
022302,001250:                                                                                                  #        TC      BANKCALL
022303,001251:                                                                                                  #        CADR    R61LEM
022304,001252: 
022305,001253:                                                                                                  #  SUBROUTINES CALLED
022306,001254: 
022307,001255:                                                                                                  #        LPS20.1         VECPOINT
022308,001256:                                                                                                  #        KALCMAN3
022309,001257: 
022310,001258:                                                                                                  #  NORMAL EXIT MODES -
022311,001259: 
022312,001260:                                                                                                  #        NORMAL RETURN IS TO CALLER + 1
022313,001261: 
022314,001262:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022315,001263: 
022316,001264:                                                                                                  #        TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022317,001265:                                                                                                  #        RENDEZVOUS FLAG ARE NOT SET.
022318,001266: 
022319,001267:                                                                                                  #  OUTPUT -
022320,001268: 
022321,001269:                                                                                                  #        SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022322,001270: 
022323,001271:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022324,001272: 
022325,001273:                                                                                                  #        GENRET USED TO SAVE Q FOR RETURN
022326,001274: 
022327,001275:                                                                                                  #  FLAGS SET + RESET
022328,001276: 
022329,001277:                                                                                                  #        3AXISFLG
022330,001278: 
022331,001279:                                                                                                  #  DEBRIS
022332,001280: 
022333,001281:                                                                                                  #        SEE SUBROUTINES
022334,001282: 
022335,001283: 23,2000                                           SETLOC   R61                                   
022336,001284: 23,2000                                           BANK                                           
022337,001285: 23,2116  E7,1456                                  EBANK=   LOSCOUNT                              
022338,001286: 23,2116                                           COUNT*   $$/R61                                
022339,001287: 23,2116           04645        R61LEM             TC       MAKECADR                              
022340,001288: 23,2117           55142                           TS       GENRET                                
022341,001289: 23,2120           05504                           TC       UPFLAG                                #  SET R61 FLAG
022342,001290: 23,2121           00024                           ADRES    R61FLAG                               
022343,001291: 23,2122           02152                           TC       R61C+L02                              
022344,001292: 23,2123           04645        R65LEM             TC       MAKECADR                              
022345,001293: 23,2124           55142                           TS       GENRET                                
022346,001294: 23,2125           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
022347,001295: 23,2126           00024                           ADRES    R61FLAG                               
022348,001296: 23,2127           34750        R61C+L01           CAF      BIT4                                  #  BYPASS RADAR READING IF DATA
022349,001297: 23,2130           00006                           EXTEND                                         #  GOOD NOT PRESENT
022350,001298: 23,2131           02033                           RAND     CHAN33                                
022351,001299: 23,2132           10000                           CCS      A                                     
022352,001300: 23,2133           12152                           TCF      R61C+L02                              #  NO DATA GOOD
022353,001301: 23,2134           05504                           TC       UPFLAG                                

Page 522

022355,001303: 23,2135           00063                           ADRES    R04FLAG                               #  PREVENT 521 ALM
022356,001304: 23,2136           04616                           TC       BANKCALL                              #  READ RR RANGE AND RDOT
022357,001305: 23,2137           53112                           CADR     RRRDOT                                #        EVERY R65 PASS (3 TIMES
022358,001306: 23,2140           04616                           TC       BANKCALL                              #        BEFORE FIRST MARK, ONCE
022359,001307: 23,2141           17705                           CADR     RADSTALL                              #        DURING ANY MARK PROCESSING,
022360,001308: 23,2142           12143                           NOOP                                           
022361,001309: 23,2143           04616                           TC       BANKCALL                              
022362,001310: 23,2144           53114                           CADR     RRRANGE                               
022363,001311: 23,2145           04616                           TC       BANKCALL                              
022364,001312: 23,2146           17705                           CADR     RADSTALL                              
022365,001313: 23,2147           12150                           NOOP                                           
022366,001314: 23,2150           05516                           TC       DOWNFLAG                              
022367,001315: 23,2151           00063                           ADRES    R04FLAG                               
022368,001316: 23,2152           34747        R61C+L02           CAF      TRACKBIT                              #  TRACKFLAG
022369,001317: 23,2153           70075                           MASK     STATE      +1                         
022370,001318: 23,2154           00006                           EXTEND                                         
022371,001319: 23,2155           12314                           BZF      R65WAIT                               #  NOT SET
022372,001320: 23,2156           06042        R61C+L03           TC       INTPRET                               
022373,001321: 23,2157           77775                           VLOAD                                          
022374,001322: 23,2160           06516                                    HIUNITZ                               
022375,001323: 23,2161           03765                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
022376,001324: 23,2162           43234        R61LEM1            RTB      DAD                                   
022377,001325: 23,2163           21574                                    LOADTIME                              #  EXTRAPOLATE FORWARD TO CENTER
022378,001326: 23,2164           15712                                    3SECONDS                              #  SIX SECOND PERIOD.
022379,001327: 23,2165           34041                           STCALL   TDEC1                                 
022380,001328: 23,2166           51256                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
022381,001329: 23,2167           77775                           VLOAD                                          
022382,001330: 23,2170           01101                                    RRTARGET                              
022383,001331: 23,2171           03773                           STORE    POINTVSM                              
022384,001332: 23,2172           45034                           RTB      CALL                                  #  GET DESIRED CDU'S FOR VECPNT1
022385,001333: 23,2173           46322                                    READCDUD                              
022386,001334: 23,2174           56032                                    VECPNT1                               #  COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022387,001335: 23,2175           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022388,001336: 23,2176           77776                           EXIT                                           
022389,001337: 23,2177           05353                           TC       PHASCHNG                              
022390,001338: 23,2200           04022                           OCT      04022                                 
022391,001339: 23,2201           34747                           CAF      TRACKBIT                              #  IS TRACK FLAG SET
022392,001340: 23,2202           70075                           MASK     FLAGWRD1                              
022393,001341: 23,2203           00006                           EXTEND                                         
022394,001342: 23,2204           12314                           BZF      R65WAIT                               
022395,001343: 23,2205           04616                           TC       BANKCALL                              
022396,001344: 23,2206           54261                           CADR     G+N,AUTO                              #  CHECK FOR AUTO MODE
022397,001345: 23,2207           10000                           CCS      A                                     
022398,001346: 23,2210           02302                           TC       R61C+L04                              #  NOT IN AUTO
022399,001347: 23,2211           06042                           TC       INTPRET                               
022400,001348: 23,2212           45175                           VLOAD    CALL                                  
022401,001349: 23,2213           01101                                    RRTARGET                              
022402,001350: 23,2214           47650                                    CDU*SMNB                              
022403,001351: 23,2215           45345                           DLOAD    DSU                                   #  GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022404,001352: 23,2216           00162                                    MPAC       +5                         

Page 523

022406,001354: 23,2217           06320                                    COS15DEG                              
022407,001355: 23,2220           77440        R61LEM2            BMN      EXIT                                  #  BRANCH - PHI > 15 DEGREES
022408,001356: 23,2221           46236                                    R61C+L05                              #  PHI GRE 10DEG
022409,001357: 23,2222  E6,1634                                  EBANK=   CDUXD                                 
022410,001358: 23,2222           35015                           CAF      EBANK6                                
022411,001359: 23,2223           54003                           TS       EBANK                                 
022412,001360: 23,2224           00004                           INHINT                                         
022413,001361: 23,2225           00006                           EXTEND                                         
022414,001362: 23,2226           30322                           DCA      CPHI                                  
022415,001363: 23,2227           53635                           DXCH     CDUXD                                 
022416,001364: 23,2230           30323                           CA       CPSI                                  
022417,001365: 23,2231           55636                           TS       CDUZD                                 
022418,001366: 23,2232           00003                           RELINT                                         
022419,001367: 23,2233  E7,1456                                  EBANK=   LOSCOUNT                              
022420,001368: 23,2233           35016                           CAF      EBANK7                                
022421,001369: 23,2234           54003                           TS       EBANK                                 
022422,001370: 23,2235           02261                           TC       R61C+L06                              
022423,001371: 23,2236           77776        R61C+L05           EXIT                                           
022424,001372: 23,2237           00004                           INHINT                                         
022425,001373: 23,2240           04674                           TC       IBNKCALL                              
022426,001374: 23,2241           40154                           FCADR    ZATTEROR                              
022427,001375: 23,2242           04674                           TC       IBNKCALL                              
022428,001376: 23,2243           40141                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
022429,001377: 23,2244           05516                           TC       DOWNFLAG                              
022430,001378: 23,2245           00124                           ADRES    3AXISFLG                              
022431,001379: 23,2246           05504                           TC       UPFLAG                                
022432,001380: 23,2247           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
022433,001381: 23,2250           04616                           TC       BANKCALL                              
022434,001382: 23,2251           54123                           CADR     R60LEM                                
022435,001383: 23,2252           00004                           INHINT                                         
022436,001384: 23,2253           04674                           TC       IBNKCALL                              
022437,001385: 23,2254           40115                           FCADR    RESTORDB                              
022438,001386: 23,2255           05353                           TC       PHASCHNG                              
022439,001387: 23,2256           04022                           OCT      04022                                 
022440,001388: 23,2257           05516                           TC       DOWNFLAG                              
022441,001389: 23,2260           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
022442,001390: 23,2261           30075        R61C+L06           CA       FLAGWRD1                              
022443,001391: 23,2262           74742                           MASK     R61FLBIT                              
022444,001392: 23,2263           10000                           CCS      A                                     
022445,001393: 23,2264           02305                           TC       R61C+L4                               
022446,001394: 23,2265           11745                           CCS      R65CNTR                               
022447,001395: 23,2266           02270                           TC       +2                                    
022448,001396: 23,2267           02305                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
022449,001397: 23,2270           55745                           TS       R65CNTR                               
022450,001398: 23,2271           32321                           CAF      06SEC                                 
022451,001399: 23,2272           05173                           TC       TWIDDLE                               
022452,001400: 23,2273           02275                           ADRES    R61C+L2                               
022453,001401: 23,2274           05155                           TC       ENDOFJOB                              
022454,001402: 23,2275           37717        R61C+L2            CAF      PRIO26                                
022455,001403: 23,2276           05105                           TC       FINDVAC                               

Page 524

022457,001405: 23,2277  E7,1456                                  EBANK=   LOSCOUNT                              
022458,001406: 23,2277           02127 46067                     2CADR    R61C+L01                              
022459,001407: 
022460,001408: 23,2301           05261                           TC       TASKOVER                              
022461,001409: 23,2302           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
022462,001410: 23,2303           54272                           CADR     BALLANGS                              
022463,001411: 23,2304           02261                           TC       R61C+L06                              
022464,001412: 23,2305           31142        R61C+L4            CAE      GENRET                                
022465,001413: 23,2306           14640                           TCF      BANKJUMP                              #  EXIT R61
022466,001414: 23,2307           32316        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
022467,001415: 23,2310           70074                           MASK     STATE                                 
022468,001416: 23,2311           00006                           EXTEND                                         
022469,001417: 23,2312           15155                           BZF      ENDOFJOB                              #  NO - EXIT ROUTINE AND PROGRAM.
022470,001418: 23,2313           02261                           TC       R61C+L06                              #  YES EXIT ROUTINE
022471,001419: 23,2314           04635        R65WAIT            TC       POSTJUMP                              
022472,001420: 23,2315           50232                           CADR     P20LEMWT                              
022473,001421: 
022474,001422: 23,2316           00500        BIT7+9PV           OCT      00500                                 
022475,001423: 23,2317           17350 34602  COS15DEG           2DEC     0.96593    B-1                        
022476,001424: 
022477,001425: 23,2321           01130        06SEC              DEC      600        B-14                       
022478,001426: 23,2322                        PHI                EQUALS   20D                                   
022479,001427: 23,2322           00004        READCDUD           INHINT                                         #  READS DESIRED CDU'S AND STORES IN
022480,001428: 23,2323           35015                           CAF      EBANK6                                #  MPAC TP EXITS WITH MODE SET TO TP
022481,001429: 23,2324           56003                           XCH      EBANK                                 
022482,001430: 23,2325           54070                           TS       RUPTREG1                              
022483,001431: 23,2326  E6,1634                                  EBANK=   CDUXD                                 
022484,001432: 23,2326           31634                           CA       CDUXD                                 
022485,001433: 23,2327           54154                           TS       MPAC                                  
022486,001434: 23,2330           00006                           EXTEND                                         
022487,001435: 23,2331           31636                           DCA      CDUYD                                 
022488,001436: 23,2332           52156                           DXCH     MPAC       +1                         
022489,001437: 23,2333           30070                           CA       RUPTREG1                              
022490,001438: 23,2334           54003                           TS       EBANK                                 
022491,001439: 23,2335           00003                           RELINT                                         
022492,001440: 23,2336           16502                           TCF      TMODE                                 
022493,001441: 
022494,001442:    4512                                           BLOCK    02                                    
022495,001443:    4000                                           SETLOC   RADARFF                               
022496,001444:    4000                                           BANK                                           
022497,001445: 
022498,001446:    4512  E7,1456                                  EBANK=   LOSCOUNT                              
022499,001447:    4512                                           COUNT*   $$/RRSUB                              
022500,001448: 

Page 525

022502,001450:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022503,001451:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1.  OTHERWISE IT RETURNS TO CALLER +3.  MAY BE CALLED IN RUPT OR UNDER EXEC.
022504,001452: 
022505,001453:    4512           00006        MAGSUB             EXTEND                                         
022506,001454:    4513           64515                           BZMF     +2                                    
022507,001455:    4514           14516                           TCF      +2                                    
022508,001456:    4515           40000                           COM                                            
022509,001457: 
022510,001458:    4516           50002                           INDEX    Q                                     
022511,001459:    4517           60000                           AD       0                                     
022512,001460:    4520           00006                           EXTEND                                         
022513,001461:    4521           66744                           BZMF     Q+2                                   #  ABS(A) <= CONST GO TO L+3
022514,001462:    4522           16742                           TCF      Q+1                                   #  ABS(A) > CONST GO TO L+2
022515,001463: 

Page 526

022517,001465:                                                                                                  #  PROGRAM NAME_ RRLIMCHK                        ARE IN THE LIMITS OF THE CURRENT MODE.
022518,001466: 
022519,001467:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022520,001468: 
022521,001469:                                                                                                  #        RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022522,001470:                                                                                                  #        THE LIMITS OF THE CURRENT MODE.  INITIALLY THE DESIRED TRUNNION AND
022523,001471:                                                                                                  #        SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2.  THE CURRENT RR
022524,001472:                                                                                                  #        ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022525,001473:                                                                                                  #        MODE 1 AND =1 FOR MODE 2.
022526,001474: 
022527,001475:                                                                                                  #        MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022528,001476:                                                                                                  #        BETWEEN -55 AND +55 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN LIMITS,
022529,001477:                                                                                                  #        THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022530,001478:                                                                                                  #        IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN TO L +3.
022531,001479: 
022532,001480:                                                                                                  #        MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022533,001481:                                                                                                  #        BETWEEN -139 AND -25 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN
022534,001482:                                                                                                  #        LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022535,001483:                                                                                                  #        AND -125 (+235) DEGREES.  IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN
022536,001484:                                                                                                  #        TO L +3.
022537,001485: 
022538,001486:                                                                                                  #  CALLING SEQUENCE:
022539,001487: 
022540,001488:                                                                                                  #        L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
022541,001489:                                                                                                  #        L  +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
022542,001490: 
022543,001491:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022544,001492: 
022545,001493:                                                                                                  #        RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022546,001494:                                                                                                  #        ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022547,001495:                                                                                                  #        CURRENT EBANK).
022548,001496: 
022549,001497:                                                                                                  #  SUBROUTINES CALLED_   MAGSUB
022550,001498: 
022551,001499:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022552,001500: 
022553,001501:                                                                                                  #  ALARMS_  NONE
022554,001502: 
022555,001503:                                                                                                  #  EXIT_         L + 2   (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022556,001504:                                                                                                  #                L + 3   (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022557,001505: 
022558,001506:    4523           00006        RRLIMCHK           EXTEND                                         
022559,001507:    4524           50002                           INDEX    Q                                     
022560,001508:    4525           50000                           INDEX    0                                     
022561,001509:    4526           30001                           DCA      0                                     
022562,001510:    4527           24002                           INCR     Q                                     
022563,001511:    4530           52062                           DXCH     ITEMP1                                
022564,001512:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
022565,001513: 
022566,001514:    4532           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
022567,001515:    4533           70110                           MASK     RADMODES                              
022568,001516:    4534           10000                           CCS      A                                     
022569,001517:    4535           14550                           TCF      MODE2CHK                              
022570,001518: 
022571,001519:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS

Page 527

022573,001521:    4537           04512                           TC       MAGSUB                                #        1. ABS(T) L 55 DEGS.
022574,001522:    4540           66161                           DEC      -.30555                               #        2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022575,001523:    4541           00001                           TC       L                                     #                (SHAFT LIMITS AT +59, -70 DEGS)
022576,001524: 
022577,001525:    4542           34562                           CAF      5.5DEGS                               
022578,001526:    4543           60062                           AD       ITEMP2                                #  S
022579,001527:    4544           04512                           TC       MAGSUB                                
022580,001528:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
022581,001529:    4546           00001                           TC       L                                     
022582,001530:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
022583,001531: 
022584,001532:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
022585,001533:    4551           60062                           AD       ITEMP2                                #        1. ABS(T) G 125 DEGS.
022586,001534:    4552           04512                           TC       MAGSUB                                #        2. ABS(S + 82 DEGS) L 57 DEGS
022587,001535:    4553           65673                           DEC      -.31667                               #                (SHAFT LIMITS AT -25, -139 DEGS)
022588,001536:    4554           00001                           TC       L                                     
022589,001537: 
022590,001538:    4555           30061                           CA       ITEMP1                                
022591,001539:    4556           04512                           TC       MAGSUB                                
022592,001540:    4557           51615                           DEC      -.69444                               #  125 DEGS
022593,001541: 
022594,001542:    4560           50001        RRLIMOK            INDEX    L                                     
022595,001543:    4561           00001                           TC       L                                     #  ( = TC 1 )
022596,001544: 
022597,001545:    4562           00765        5.5DEGS            DEC      .03056                                
022598,001546:    4563           16450        82DEGS             DEC      .45556                                
022599,001547: 

Page 528

022601,001549:                                                                                                  #  PROGRAM NAME_ SETTRKF                                                 . IF EITHER:
022602,001550: 
022603,001551:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022604,001552:                                                                                                  #        SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.              HER THE ALT OR VEL INFORMATION.
022605,001553:                                                                                                  #        INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022606,001554:                                                                                                  #        IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022607,001555:                                                                                                  #        IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022608,001556:                                                                                                  #                1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022609,001557:                                                                                                  #                   AUTO MODE (RADMODES BITS 13, 7, 2).
022610,001558:                                                                                                  #                2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022611,001559:                                                                                                  #                   8,5)
022612,001560:                                                                                                  #                3) NO RR DATA (RADMODES BIT 4)
022613,001561:                                                                                                  #        THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022614,001562:                                                                                                  #        IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022615,001563:                                                                                                  #        LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022616,001564:                                                                                                  #        THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022617,001565:                                                                                                  #        TRACKER FAIL LAMP IS TURNED ON IF_
022618,001566:                                                                                                  #                A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022619,001567:                                                                                                  #                B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022620,001568:                                                                                                  #                   EITHER THE ALT OR VEL INFORMATION
022621,001569:                                                                                                  #                C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022622,001570:                                                                                                  #                   WITH EITHER THE AL
022623,001571: 
022624,001572:                                                                                                  #  CALLING SEQUENCE:
022625,001573: 
022626,001574:                                                                                                  #        L       TC      SETTRKF
022627,001575: 
022628,001576:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:  IMODES33, RADMODES, DSPTAB +11D
022629,001577: 
022630,001578:                                                                                                  #  SUBROUTINES CALLED_  NONE
022631,001579: 
022632,001580:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022633,001581: 
022634,001582:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
022635,001583: 
022636,001584:                                                                                                  #  EXIT_  L +1 (ALWAYS)                  ED.
022637,001585: 
022638,001586:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
022639,001587:    4565           71300                           MASK     IMODES33                              
022640,001588:    4566           10000                           CCS      A                                     
022641,001589:    4567           00002                           TC       Q                                     
022642,001590: 
022643,001591:    4570           34744        RRTRKF             CA       BIT8                                  
022644,001592:    4571           54001                           TS       L                                     
022645,001593: 
022646,001594:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
022647,001595:    4573           70110                           MASK     RADMODES                              
022648,001596:    4574           00006                           EXTEND                                         
022649,001597:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
022650,001598: 
022651,001599:    4576           34750        RRCHECK            CAF      RRDATABT                              #  SEE IF RR DATA FAILED.
022652,001600:    4577           70110                           MASK     RADMODES                              

Page 529

022654,001602:    4600           10000                           CCS      A                                     
022655,001603:    4601           30001        TRKFLON            CA       L                                     
022656,001604:    4602           61035                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
022657,001605:    4603           70001                           MASK     L                                     
022658,001606:    4604           00006                           EXTEND                                         
022659,001607:    4605           16745                           BZF      TCQ                                   #  NO CHANGE.
022660,001608: 
022661,001609:    4606           31035        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
022662,001610:    4607           00006                           EXTEND                                         
022663,001611:    4610           06001                           RXOR     LCHAN                                 
022664,001612:    4611           74733                           MASK     POSMAX                                
022665,001613:    4612           64735                           AD       BIT15                                 
022666,001614:    4613           55035                           TS       DSPTAB     +11D                       
022667,001615:    4614           00002                           TC       Q                                     
022668,001616: 
022669,001617:    4615           10102        13,7,2             OCT      10102                                 
022670,001618:    4616                        ENDRMODF           EQUALS                                         
022671,001619: 

Page 530

022673,001621:                                                                                                  #  PROGRAM NAME_  RRTURNON
022674,001622: 
022675,001623:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022676,001624: 
022677,001625:                                                                                                  #        RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022678,001626:                                                                                                  #        RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022679,001627:                                                                                                  #        INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022680,001628:                                                                                                  #        ACTUAL TURN-ON SEQUENCE.  UPON RETURN THE PROGRAM
022681,001629:                                                                                                  #        WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022682,001630:                                                                                                  #        (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022683,001631:                                                                                                  #        INITIATE PROGRAM ALARM 00501.  A CHECK IS THEN MADE
022684,001632:                                                                                                  #        TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7).  IF
022685,001633:                                                                                                  #        SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022686,001634:                                                                                                  #        FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022687,001635:                                                                                                  #        RETURNING TO THE WAITING PROGRAM.  IF NOT, THE PROGRAM EXITS
022688,001636:                                                                                                  #        TO TASKOVER.
022689,001637: 
022690,001638:                                                                                                  #  CALLING SEQUENCE:  WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022691,001639:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING 
022692,001640:                                                                                                  #  THE RR (STATE BIT 7).
022693,001641: 
022694,001642:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022695,001643: 
022696,001644:                                                                                                  #        RADMODES, STATE
022697,001645: 
022698,001646:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022699,001647: 
022700,001648:                                                                                                  #  JOBS OR TASKS INITIATED_
022701,001649:                                                                                                  #        
022702,001650:                                                                                                  #        NONE
022703,001651: 
022704,001652:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
022705,001653: 
022706,001654:                                                                                                  #  EXIT_  TASKOVER, ENDRADAR (WAITING PROGRAM)
022707,001655: 
022708,001656: 24,3256                                           BANK     24                                    
022709,001657: 25,2000                                           SETLOC   P20S1                                 
022710,001658: 25,2000                                           BANK                                           
022711,001659: 
022712,001660: 25,2073  E7,1456                                  EBANK=   LOSCOUNT                              
022713,001661: 25,2073                                           COUNT*   $$/RSUB                               
022714,001662: 25,2073           02102        RRTURNON           TC       RRZEROSB                              
022715,001663: 25,2074           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022716,001664: 25,2075           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
022717,001665: 25,2076           44753                           CS       TURNONBT                              
022718,001666: 25,2077           70110                           MASK     RADMODES                              
022719,001667: 25,2100           54110                           TS       RADMODES                              
022720,001668: 25,2101           15261                           TCF      TASKOVER                              

Page 531

022722,001670:                                                                                                  #  PROGRAM NAME_  RRZEROSB
022723,001671: 
022724,001672:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022725,001673: 
022726,001674:                                                                                                  #        RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022727,001675:                                                                                                  #        DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022728,001676:                                                                                                  #        LAMP IF REQUIRED.  INITIALLY THE RR CDU ZERO BIT (CHAN 12
022729,001677:                                                                                                  #        BIT 1) IS SET.  FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022730,001678:                                                                                                  #        RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER 
022731,001679:                                                                                                  #        WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022732,001680:                                                                                                  #        REMOVED.  A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022733,001681:                                                                                                  #        TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES.  THE
022734,001682:                                                                                                  #        RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED.  THE
022735,001683:                                                                                                  #        CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022736,001684:                                                                                                  #        ANGLE IS LESS THAN 90 DEGREES.  IF NOT, BIT 12 OF
022737,001685:                                                                                                  #        RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022738,001686:                                                                                                  #        IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022739,001687:                                                                                                  #        INDICATE RR ANTENNA MODE 1.  SETTRKF IS THEN CALLED TO
022740,001688:                                                                                                  #        SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022741,001689: 
022742,001690:                                                                                                  #  CALLING SEQUENCE:  L  TC  RRZEROSB  (FROM RRTURNON AND RRZERO)
022743,001691: 
022744,001692:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022745,001693: 
022746,001694:                                                                                                  #        RADMODES (BIT 13 SET), DSPTAB +11D
022747,001695: 
022748,001696:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
022749,001697: 
022750,001698:                                                                                                  #  JOBS OR TASKS INITIATED_
022751,001699: 
022752,001700:                                                                                                  #        NONE
022753,001701: 
022754,001702:                                                                                                  #  ALARMS_  TRACKER FAIL
022755,001703: 
022756,001704:                                                                                                  #  EXIT_  L +1 (ALWAYS)
022757,001705: 
022758,001706: 25,2102           00006        RRZEROSB           EXTEND                                         
022759,001707: 25,2103           23312                           QXCH     RRRET                                 
022760,001708: 25,2104           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
022761,001709: 25,2105           00006                           EXTEND                                         #  COMING HERE.
022762,001710: 25,2106           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
022763,001711: 25,2107           05221                           TC       FIXDELAY                              
022764,001712: 25,2110           00002                           DEC      2          B-14                       
022765,001713: 
022766,001714: 25,2111           34755                           CAF      ZERO                                  
022767,001715: 25,2112           54035                           TS       CDUT                                  
022768,001716: 25,2113           54036                           TS       CDUS                                  
022769,001717: 25,2114           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
022770,001718: 25,2115           00006                           EXTEND                                         
022771,001719: 25,2116           03012                           WAND     CHAN12                                
022772,001720: 25,2117           05221                           TC       FIXDELAY                              
022773,001721: 25,2120           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
022774,001722: 
022775,001723: 25,2121           44737                           CS       RCDU0BIT                              #  REMOVE ZEROING IN PROCESS BIT.

Page 532

022777,001725: 25,2122           70110                           MASK     RADMODES                              
022778,001726: 25,2123           54110                           TS       RADMODES                              
022779,001727: 
022780,001728: 25,2124           30035                           CA       CDUT                                  
022781,001729: 25,2125           04512                           TC       MAGSUB                                
022782,001730: 25,2126           57777                           DEC      -.5                                   
022783,001731: 25,2127           12132                           TCF      +3                                    #  IF MODE 2.
022784,001732: 
022785,001733: 25,2130           34755                           CAF      ZERO                                  
022786,001734: 25,2131           12133                           TCF      +2                                    
022787,001735: 25,2132           34740                           CAF      ANTENBIT                              
022788,001736: 25,2133           56110                           XCH      RADMODES                              
022789,001737: 25,2134           77744                           MASK     -BIT12                                
022790,001738: 25,2135           26110                           ADS      RADMODES                              
022791,001739: 
022792,001740: 25,2136           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
022793,001741: 
022794,001742: 25,2137           01312                           TC       RRRET                                 #  DONE.
022795,001743: 
022796,001744: 25,2140     7744               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
022797,001745: 

Page 533

022799,001747:                                                                                                  #  PROGRAM NAME_  DORREPOS
022800,001748: 
022801,001749:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022802,001750: 
022803,001751:                                                                                                  #        DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022804,001752:                                                                                                  #        TO A SAFE POSITION.  INITIALLY SETRRECR IS CALLED WHERE THE RR
022805,001753:                                                                                                  #        ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022806,001754:                                                                                                  #        AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022807,001755:                                                                                                  #        DESIRED STATE AND PRESENT STATE OF THE COMMANDS.  THE RR
022808,001756:                                                                                                  #        TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022809,001757:                                                                                                  #        PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING.  IN EITHER
022810,001758:                                                                                                  #        CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022811,001759:                                                                                                  #        RR ANTENNA MODE (RADMODES BIT 12).  RRTONLY IS THEN CALLED
022812,001760:                                                                                                  #        TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022813,001761:                                                                                                  #        DEGREES IF IN MODE 2.  UPON RETURN, THE CURRENT RR ANTENNA
022814,001762:                                                                                                  #        MODE (RADMODES BIT 12) IS AGAIN CHECKED.  RRSONLY IS THEN
022815,001763:                                                                                                  #        CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022816,001764:                                                                                                  #        -90 DEGREES IF IN MODE 2.  IF DURING RRTONLY OR RRSONLY A
022817,001765:                                                                                                  #        REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022818,001766:                                                                                                  #        FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022819,001767:                                                                                                  #        REPOSRPT.  HERE THE REPOSITION FLAG (RADMODES BIT 11) IS 
022820,001768:                                                                                                  #        REMOVED.  A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022821,001769:                                                                                                  #        BIT 10).  IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES.  IF NOT PRESENT
022822,001770:                                                                                                  #        INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022823,001771:                                                                                                  #        COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022824,001772:                                                                                                  #        TASKOVER.
022825,001773: 
022826,001774:                                                                                                  #  CALLING SEQUENCE:
022827,001775: 
022828,001776:                                                                                                  #        WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022829,001777:                                                                                                  #        NOT WITHIN LIMITS OF CURRENT MODE.
022830,001778: 
022831,001779:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022832,001780: 
022833,001781:                                                                                                  #        RADMODES
022834,001782: 
022835,001783:                                                                                                  #  SUBROUTINES CALLED_
022836,001784: 
022837,001785:                                                                                                  #        RRTONLY, RRSONLY, BEGDES (EXIT)
022838,001786: 
022839,001787:                                                                                                  #  JOBS OR TASKS INITIATED_
022840,001788: 
022841,001789:                                                                                                  #        NONE
022842,001790: 
022843,001791:                                                                                                  #  ALARMS-  NONE
022844,001792: 
022845,001793:                                                                                                  #  EXIT_  TASKOVER, BEGDES
022846,001794: 
022847,001795: 25,2140           02167        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
022848,001796: 
022849,001797:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022850,001798: 
022851,001799: 25,2141           05221                           TC       FIXDELAY                              
022852,001800: 25,2142           00002                           DEC      2          B-14                       
022853,001801: 
022854,001802: 25,2143           34740                           CAF      ANTENBIT                              #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.

Page 534

022856,001804: 25,2144           70110                           MASK     RADMODES                              
022857,001805: 25,2145           10000                           CCS      A                                     
022858,001806: 25,2146           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
022859,001807: 25,2147           02252                           TC       RRTONLY                               
022860,001808: 
022861,001809: 25,2150           34740                           CAF      ANTENBIT                              #  NOW PUT SHAFT IN RIGHT POSITION
022862,001810: 25,2151           70110                           MASK     RADMODES                              
022863,001811: 25,2152           10000                           CCS      A                                     
022864,001812: 25,2153           44736                           CS       HALF                                  #  -90 FOR MODE 2.
022865,001813: 25,2154           02255                           TC       RRSONLY                               
022866,001814: 
022867,001815: 25,2155           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
022868,001816:                                                                                                  #  REQUESTED DURING REPOSITION.
022869,001817: 25,2156           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
022870,001818: 25,2157           54110                           TS       RADMODES                              
022871,001819: 25,2160           74742                           MASK     DESIGBIT                              #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
022872,001820: 25,2161           10000                           CCS      A                                     
022873,001821: 25,2162           12604                           TCF      BEGDES                                
022874,001822: 25,2163           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
022875,001823: 25,2164           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
022876,001824: 25,2165           03012                           WAND     CHAN12                                
022877,001825: 25,2166           15261                           TCF      TASKOVER                              
022878,001826: 
022879,001827: 25,2167           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
022880,001828: 25,2170           00006                           EXTEND                                         
022881,001829: 25,2171           02012                           RAND     CHAN12                                
022882,001830: 25,2172           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
022883,001831: 25,2173           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
022884,001832: 
022885,001833: 25,2174           54112                           TS       LASTYCMD                              
022886,001834: 25,2175           54113                           TS       LASTXCMD                              
022887,001835: 25,2176           34752                           CAF      BIT2                                  
022888,001836: 25,2177           00006                           EXTEND                                         
022889,001837: 25,2200           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
022890,001838: 25,2201           00002                           TC       Q                                     

Page 535

022892,001840:                                                                                                  #  PROGRAM NAME_  REMODE                                                 IVES SHAFT TO -45, AND FINALLY DRIVES
022893,001841: 
022894,001842:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                               S DONE WITH SINGLE AXIS ROTATIONS (SEE
022895,001843:                                                                                                  #        REMODE IS THE GENERAL REMODING SUBROUTINE.  IT DRIVES THE
022896,001844:                                                                                                  #        TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022897,001845:                                                                                                  #        180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022898,001846:                                                                                                  #        DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022899,001847:                                                                                                  #        TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022900,001848:                                                                                                  #        INITIATING 2-AXIS CONTROL.  ALL REMODING IS DONE WITH SINGLE
022901,001849:                                                                                                  #        AXIS ROTATIONS (RR1AXIS).  INITIALLY THE RR ANTENNA MODE FLAG
022902,001850:                                                                                                  #        (RADMODES BIT 12) IS CHECKED.  CONTROL IS THEN TRANSFERRED TO
022903,001851:                                                                                                  #        RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022904,001852:                                                                                                  #        OR 180 DEGREES IF IN MODE 2.  RRSONLY IS THEN CALLED TO DRIVE
022905,001853:                                                                                                  #        THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022906,001854:                                                                                                  #        (RADMODES BIT 12) IS CHECKED AGAIN.  CONTROL IS AGAIN
022907,001855:                                                                                                  #        TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022908,001856:                                                                                                  #        DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022909,001857:                                                                                                  #        -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1.  RMODINV
022910,001858:                                                                                                  #        IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022911,001859:                                                                                                  #        RR ANTENNA MODE.  THE REMODE FLAG (RADMODES BIT 14)
022912,001860:                                                                                                  #        IS REMOVED TO INDICATE THAT REMODING IS COMPLETE.  THE PROGRAM
022913,001861:                                                                                                  #        THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022914,001862: 
022915,001863:                                                                                                  #  CALLING SEQUENCE:
022916,001864: 
022917,001865:                                                                                                  #        FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022918,001866:                                                                                                  #        THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022919,001867:                                                                                                  #        DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022920,001868:                                                                                                  #        OTHER MODE.
022921,001869: 
022922,001870:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022923,001871: 
022924,001872:                                                                                                  #        RADMODES
022925,001873: 
022926,001874:                                                                                                  #  SUBROUTINES CALLED_
022927,001875: 
022928,001876:                                                                                                  #        RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022929,001877: 
022930,001878:                                                                                                  #  JOBS OR TASKS INITIATED_
022931,001879: 
022932,001880:                                                                                                  #        NONE
022933,001881: 
022934,001882:                                                                                                  #  ALARMS_  NONE
022935,001883: 
022936,001884:                                                                                                  #  EXIT_  STDESIG
022937,001885: 
022938,001886: 25,2202           34740        REMODE             CAF      ANTENBIT                              #  DRIVE TRUNNION TO 0 (180)
022939,001887: 25,2203           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
022940,001888: 25,2204           10000                           CCS      A                                     
022941,001889: 25,2205           34735                           CAF      BIT15                                 
022942,001890: 25,2206           02252                           TC       RRTONLY                               
022943,001891: 
022944,001892: 25,2207           37743                           CAF      -45DEGSR                              
022945,001893: 25,2210           02255                           TC       RRSONLY                               

Page 536

022947,001895: 25,2211           40110                           CS       RADMODES                              
022948,001896: 25,2212           74740                           MASK     ANTENBIT                              
022949,001897: 25,2213           10000                           CCS      A                                     
022950,001898: 25,2214           32243                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
022951,001899: 25,2215           62242                           AD       -50DEGSR                              
022952,001900: 25,2216           02252                           TC       RRTONLY                               
022953,001901: 
022954,001902: 25,2217           40110                           CS       RADMODES                              
022955,001903: 25,2220           74740                           MASK     ANTENBIT                              
022956,001904: 25,2221           10000                           CCS      A                                     
022957,001905: 25,2222           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
022958,001906: 25,2223           02252                           TC       RRTONLY                               
022959,001907: 
022960,001908: 25,2224           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
022961,001909: 25,2225           74740                           MASK     ANTENBIT                              
022962,001910: 25,2226           10000                           CCS      A                                     
022963,001911: 25,2227           44736                           CS       HALF                                  
022964,001912: 25,2230           02255                           TC       RRSONLY                               
022965,001913: 
022966,001914: 25,2231           02244                           TC       RMODINV                               
022967,001915: 25,2232           44736                           CS       REMODBIT                              #  END OF REMODE.
022968,001916: 25,2233           70110                           MASK     RADMODES                              
022969,001917: 25,2234           54110                           TS       RADMODES                              
022970,001918: 
022971,001919: 25,2235           34742                           CAF      DESIGBIT                              #  WAS REMODE CALLED DURING DESIGNATE?
022972,001920: 25,2236           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
022973,001921: 25,2237           00006                           EXTEND                                         
022974,001922: 25,2240           13560                           BZF      RGOODEND                              #  NO - RETURN TO CALLER WAITING IN RADSTALL
022975,001923: 25,2241           02613                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
022976,001924: 25,2242     7743               -45DEGSR           =        13,14,15                              
022977,001925: 25,2242           67070        -50DEGSR           DEC      -.27778                               
022978,001926: 25,2243           61615        -80DEGSR           DEC      -.44444                               
022979,001927: 
022980,001928: 25,2244           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
022981,001929: 25,2245           34740                           CAF      ANTENBIT                              
022982,001930: 25,2246           00006                           EXTEND                                         
022983,001931: 25,2247           06001                           RXOR     LCHAN                                 
022984,001932: 25,2250           54110                           TS       RADMODES                              
022985,001933: 25,2251           00002                           TC       Q                                     
022986,001934: 

Page 537

022988,001936:                                                                                                  #  PROGRAM NAMES_        RRTONLY, RRSONLY
022989,001937: 
022990,001938:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022991,001939: 
022992,001940:                                                                                                  #        RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022993,001941:                                                                                                  #        RRMANEUVERS FOR REMODE AND REPOSITION.  IT DRIVES TO
022994,001942:                                                                                                  #        WITHIN 1 DEGREE.  INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022995,001943:                                                                                                  #        FLAGS (RADMODES BITS 14, 11) ARE CHECKED.  IF BOTH EXIST,
022996,001944:                                                                                                  #        THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS).  THIS INDICATES
022997,001945:                                                                                                  #        THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022998,001946:                                                                                                  #        WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022999,001947:                                                                                                  #        REPOSITION IS IN PROGRESS (RADMODES BIT 11).  IF NONE
023000,001948:                                                                                                  #        OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023001,001949:                                                                                                  #        IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE.  IF YES,
023002,001950:                                                                                                  #        CONTROL RETURNS TO THE CALLING ROUTINE.  IF NOT, CONTROL IS
023003,001951:                                                                                                  #        TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023004,001952:                                                                                                  #        ANGLE SET = 0.  FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023005,001953:                                                                                                  #        REPEATED.
023006,001954: 
023007,001955:                                                                                                  #  CALLING SEQUENCE:     L-1     CAF     *ANGLE*         (DESIRED ANGLE SCALED PI)
023008,001956:                                                                                                  #                        L       TC      RRTONLY         (TRUNNION ONLY)
023009,001957:                                                                                                  #                        RRSONLY                         (SHAFT ONLY)
023010,001958:                                                                                                  #                        RRTONLY IS CALLED BY PREPOS29;
023011,001959:                                                                                                  #                        RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023012,001960: 
023013,001961:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023014,001962: 
023015,001963:                                                                                                  #        C(A) = DESIRED ANGLE, RADMODES
023016,001964: 
023017,001965:                                                                                                  #  SUBROUTINES CALLED_
023018,001966: 
023019,001967:                                                                                                  #        FIXDELAY, REPOSRPT, MAGSUB, RROUT
023020,001968: 
023021,001969:                                                                                                  #  JOBS OR TASKS INITIATED_
023022,001970: 
023023,001971:                                                                                                  #        NONE
023024,001972: 
023025,001973:                                                                                                  #  ALARMS_  NONE
023026,001974: 
023027,001975:                                                                                                  #  EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023028,001976:                                                                                                  #        BITS 14, 11)
023029,001977:                                                                                                  #        L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023030,001978: 
023031,001979: 25,2252           55313        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
023032,001980: 25,2253           34755                           CAF      ZERO                                  
023033,001981: 25,2254           12257                           TCF      RR1AXIS                               
023034,001982: 
023035,001983: 25,2255           55313        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023036,001984: 25,2256           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023037,001985: 
023038,001986: 25,2257           55314        RR1AXIS            TS       RRINDEX                               
023039,001987: 25,2260           00006                           EXTEND                                         
023040,001988: 25,2261           23312                           QXCH     RRRET                                 
023041,001989: 25,2262           12265                           TCF      RR1AX2                                
023042,001990: 

Page 538

023044,001992: 25,2263           05221        NXTRR1AX           TC       FIXDELAY                              
023045,001993: 25,2264           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
023046,001994: 
023047,001995: 25,2265           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
023048,001996: 25,2266           77713                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
023049,001997: 25,2267           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
023050,001998: 25,2270           12155                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
023051,001999: 
023052,002000: 25,2271           31313                           CA       RDES                                  
023053,002001: 25,2272           00006                           EXTEND                                         
023054,002002: 25,2273           51314                           INDEX    RRINDEX                               
023055,002003: 25,2274           20035                           MSU      CDUT                                  
023056,002004: 25,2275           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
023057,002005: 25,2276           00006                           EXTEND                                         
023058,002006: 25,2277           72316                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
023059,002007: 25,2300           54001                           TS       L                                     
023060,002008: 25,2301           30110                           CA       RADMODES                              
023061,002009: 25,2302           74752                           MASK     AUTOMBIT                              
023062,002010: 25,2303           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
023063,002011: 25,2304           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
023064,002012: 25,2305           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
023065,002013: 
023066,002014: 25,2306           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
023067,002015: 25,2307           01312                           TC       RRRET                                 #  RETURN TO CALLER.
023068,002016: 
023069,002017: 25,2310           11314                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
023070,002018: 25,2311           12313                           TCF      +2                                    #  SETTING A TO 0.
023071,002019: 25,2312           56001                           XCH      L                                     
023072,002020: 25,2313           53355                           DXCH     TRUNNCMD                              
023073,002021: 25,2314           02317                           TC       RROUT                                 
023074,002022: 
023075,002023: 25,2315           12263                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
023076,002024: 
023077,002025: 25,2316           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
023078,002026: 

Page 539

023080,002028:                                                                                                  #  PROGRAM NAME_  RROUT                                          RROR COUNTER SCALING. RROUT LIMITS THEM
023081,002029: 
023082,002030:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023083,002031: 
023084,002032:                                                                                                  #        RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023085,002033:                                                                                                  #        ERROR COUNTER SCALING.  RROUT THEN LIMITS THEM AND
023086,002034:                                                                                                  #        GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023087,002035:                                                                                                  #        TO THE DESIRED VALUES.  INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023088,002036:                                                                                                  #        THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023089,002037:                                                                                                  #        384 PULSES.  IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023090,002038:                                                                                                  #        LIMIT THE COMMAND TO +384 OR -384 PULSES.  THE DIFFERENCE IS
023091,002039:                                                                                                  #        THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023092,002040:                                                                                                  #        THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023093,002041:                                                                                                  #        THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023094,002042:                                                                                                  #        PASS).  FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023095,002043:                                                                                                  #        OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023096,002044:                                                                                                  #        ARE SET.  THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023097,002045: 
023098,002046:                                                                                                  #  CALLING SEQUENCE:
023099,002047:                                                                                                  #        
023100,002048:                                                                                                  #        L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023101,002049:                                                                                                  #        RRTONLY, RRSONLY, AND DODES
023102,002050: 
023103,002051:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023104,002052: 
023105,002053:                                                                                                  #        TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023106,002054:                                                                                                  #        (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023107,002055: 
023108,002056:                                                                                                  #  SUBROUTINES CALLED_
023109,002057: 
023110,002058:                                                                                                  #        MAGSUB
023111,002059: 
023112,002060:                                                                                                  #  JOBS OR TASKS INITIATED_
023113,002061: 
023114,002062:                                                                                                  #        NONE
023115,002063: 
023116,002064:                                                                                                  #  ALARMS_  NONE
023117,002065: 
023118,002066:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                           SIRED VALUES. RUPT MUST BE INHIBITED.
023119,002067: 
023120,002068: 25,2317           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
023121,002069: 25,2320           34753                           CAF      ONE                                   #  LOOP TWICE.
023122,002070: 25,2321           54062        RROUT2             TS       ITEMP2                                
023123,002071: 25,2322           50000                           INDEX    A                                     
023124,002072: 25,2323           31354                           CA       TRUNNCMD                              
023125,002073: 25,2324           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
023126,002074: 
023127,002075: 25,2325           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
023128,002076: 25,2326           77177        -RRLIMIT           DEC      -384       B-14                       
023129,002077: 25,2327           12346                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
023130,002078: 
023131,002079: 25,2330           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
023132,002080: 25,2331           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
023133,002081: 25,2332           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
023134,002082: 25,2333           40000                           COM                                            

Page 540

023136,002084: 25,2334           60061                           AD       ITEMP1                                
023137,002085: 25,2335           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
023138,002086: 25,2336           50062                           INDEX    ITEMP2                                
023139,002087: 25,2337           54053                           TS       CDUTCMD                               
023140,002088: 
023141,002089: 25,2340           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
023142,002090: 25,2341           12321                           TCF      RROUT2                                
023143,002091: 
023144,002092: 25,2342           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
023145,002093: 25,2343           00006                           EXTEND                                         
023146,002094: 25,2344           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
023147,002095: 25,2345           00001                           TC       L                                     #  RETURN.
023148,002096: 
023149,002097: 25,2346           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
023150,002098: 25,2347           42326                           CS       -RRLIMIT                              
023151,002099: 25,2350           12352                           TCF      +2                                    
023152,002100: 25,2351           32326                           CA       -RRLIMIT                              
023153,002101: 25,2352           54061                           TS       ITEMP1                                
023154,002102: 25,2353           12331                           TCF      SETRRCTR   +1                         
023155,002103: 

Page 541

023157,002105:                                                                                                  #  ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023158,002106: 
023159,002107: 25,2354           32403        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
023160,002108: 25,2355           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
023161,002109: 25,2356           10000                           CCS      A                                     
023162,002110: 25,2357           13513                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
023163,002111: 
023164,002112: 25,2360           00004                           INHINT                                         
023165,002113: 25,2361           44737                           CS       RCDU0BIT                              #  SET FLAG TO SHOW ZEROING IN PROGRESS.
023166,002114: 25,2362           70110                           MASK     RADMODES                              
023167,002115: 25,2363           64737                           AD       RCDU0BIT                              
023168,002116: 25,2364           54110                           TS       RADMODES                              
023169,002117: 
023170,002118: 25,2365           34753                           CAF      ONE                                   
023171,002119: 25,2366           05203                           TC       WAITLIST                              
023172,002120: 25,2367  E7,1456                                  EBANK=   LOSCOUNT                              
023173,002121: 25,2367           02401 52067                     2CADR    RRZ2                                  
023174,002122: 
023175,002123: 25,2371           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
023176,002124: 25,2372           74752                           MASK     AUTOMBIT                              
023177,002125: 25,2373           10000                           CCS      A                                     
023178,002126: 25,2374           12377                           TCF      ROADBACK                              
023179,002127: 25,2375           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
023180,002128: 25,2376           00510                           OCT      510                                   
023181,002129: 25,2377           00003        ROADBACK           RELINT                                         
023182,002130: 25,2400           14631                           TCF      SWRETURN                              
023183,002131: 
023184,002132: 25,2401           02102        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
023185,002133: 25,2402           13551                           TCF      ENDRADAR                              
023186,002134: 
023187,002135: 25,2403           02001        BIT11+1            OCT      02001                                 
023188,002136: 

Page 542

023190,002138:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                R (HALF-UNIT) IN RRTARGET. REMODES IF
023191,002139: 
023192,002140:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023193,002141: 
023194,002142:                                                                                                  #        THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023195,002143:                                                                                                  #        WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023196,002144:                                                                                                  #        (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023197,002145:                                                                                                  #        ORIENTATION.  INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023198,002146:                                                                                                  #        TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023199,002147:                                                                                                  #        MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023200,002148:                                                                                                  #        RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023201,002149:                                                                                                  #        TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023202,002150:                                                                                                  #        RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023203,002151:                                                                                                  #        PRESENT MODE ARE WITHIN LIMITS.  IF WITHIN LIMITS, THE RETURN
023204,002152:                                                                                                  #        LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023205,002153:                                                                                                  #        REQUIRED, BEFORE EXITING TO STARTDES.  IF NOT WITHIN LIMITS OF THE
023206,002154:                                                                                                  #        CURRENT MODE, TRYSWS IS CALLED.  FOLLOWING INVERTING OF THE RR
023207,002155:                                                                                                  #        ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023208,002156:                                                                                                  #        TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023209,002157:                                                                                                  #        LIMITS.  IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023210,002158:                                                                                                  #        THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023211,002159:                                                                                                  #        INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023212,002160:                                                                                                  #        EXITING TO STARTDES.  IF THESE ANGLES ARE NOT WITHIN LIMITS
023213,002161:                                                                                                  #        OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023214,002162:                                                                                                  #        BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023215,002163:                                                                                                  #        TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023216,002164: 
023217,002165:                                                                                                  #  CALLING SEQUENCE:
023218,002166: 
023219,002167:                                                                                                  #        L       STCALL  RRTARGET        (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023220,002168:                                                                                                  #        L+1     RRDESSM
023221,002169:                                                                                                  #        L+2     BASIC                   (VEHICLE MANEUVER REQUIRED)
023222,002170:                                                                                                  #        L+3     BASIC                   (NO VEHICLE MANEUVER REQUIRED)
023223,002171: 
023224,002172:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023225,002173: 
023226,002174:                                                                                                  #        RRTARGET, RADMODES
023227,002175: 
023228,002176:                                                                                                  #  SUBROUTINES CALLED_
023229,002177: 
023230,002178:                                                                                                  #        READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023231,002179:                                                                                                  #        PART OF), RMODINV
023232,002180: 
023233,002181:                                                                                                  #  JOBS OR TASKS INITIATED_
023234,002182: 
023235,002183:                                                                                                  #        NONE
023236,002184: 
023237,002185:                                                                                                  #  ALARMS_  NONE
023238,002186: 
023239,002187:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023240,002188:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023241,002189:                                                                                                  #  TO L+3 FROM STARTDES)                                                 CAN BE DONE IN PRESENT VEH ATTITUDE.
023242,002190: 
023243,002191: 25,2404           43020        RRDESSM            STQ      CLEAR                                 
023244,002192: 25,2405           01112                                    DESRET                                

Page 543

023246,002194: 25,2406           00271                                    RRNBSW                                
023247,002195: 25,2407           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
023248,002196: 25,2410           47541                                    CDUTRIG                               
023249,002197: 25,2411           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
023250,002198: 25,2412           01101                                    RRTARGET                              
023251,002199: 25,2413           47673                                    *SMNB*                                
023252,002200: 
023253,002201: 25,2414           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
023254,002202: 25,2415           26133                                    RRANGLES                              #  ALTERNATE MODE.
023255,002203: 25,2416           77776                           EXIT                                           
023256,002204: 
023257,002205: 25,2417           00004                           INHINT                                         
023258,002206: 25,2420           04523                           TC       RRLIMCHK                              
023259,002207: 25,2421           01106                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
023260,002208: 25,2422           02425                           TC       +3                                    #  NOT IN CURRENT MODE
023261,002209: 25,2423           25112        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023262,002210: 25,2424           02443                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
023263,002211: 25,2425           40104                           CS       FLAGWRD8                              
023264,002212: 25,2426           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023265,002213: 25,2427           00006                           EXTEND                                         
023266,002214: 25,2430           12467                           BZF      NORDSTAL                              #  BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023267,002215: 25,2431           02472                           TC       TRYSWS                                
023268,002216: 
023269,002217: 25,2432           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
023270,002218: 25,2433           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
023271,002219: 25,2434           00006                           EXTEND                                         
023272,002220: 25,2435           12467                           BZF      NORDSTAL                              #  BRANCH - YES - RETURN TO CALLER - ALARM 527
023273,002221: 25,2436           30074                           CA       STATE                                 
023274,002222: 25,2437           74745                           MASK     RNDVZBIT                              
023275,002223: 25,2440           10000                           CCS      A                                     #  TEST RNDVZFLG.
023276,002224: 25,2441           02502                           TC       NODESSM                               #  NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023277,002225: 25,2442           15155                           TCF      ENDOFJOB                              #  ... BUT NOT IN R29.
023278,002226: 

Page 544

023280,002228:                                                                                                  #  PROGRAM NAME_  STARTDES                                                       STORED AS A HALF-UNIT VECTOR IN RRTARGET
023281,002229: 
023282,002230:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       CKON IS DESIRED. BIT14 OF RADMODES IS
023283,002231:                                                                                                  #        STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
023284,002232:                                                                                                  #        BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
023285,002233:                                                                                                  #        AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
023286,002234:                                                                                                  #        OPERATION.  IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023287,002235:                                                                                                  #        ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023288,002236:                                                                                                  #        OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023289,002237:                                                                                                  #        DESIGNATION BEGINS.  INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023290,002238:                                                                                                  #        THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023291,002239:                                                                                                  #        (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5).  BIT 10
023292,002240:                                                                                                  #        OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023293,002241:                                                                                                  #        THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF SET,
023294,002242:                                                                                                  #        THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023295,002243:                                                                                                  #        AND RRDESNB).  THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023296,002244:                                                                                                  #        ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023297,002245:                                                                                                  #        REQUESTED.  IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023298,002246:                                                                                                  #        WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023299,002247:                                                                                                  #        AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023300,002248:                                                                                                  #        DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023301,002249:                                                                                                  #        COUNTERS.  A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023302,002250:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023303,002251: 
023304,002252:                                                                                                  #  CALLING SEQUENCE:
023305,002253: 
023306,002254:                                                                                                  #        FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023307,002255: 
023308,002256:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023309,002257: 
023310,002258:                                                                                                  #        RADMODES, (SEE DODES)
023311,002259: 
023312,002260:                                                                                                  #  SUBROUTINES CALLED_
023313,002261: 
023314,002262:                                                                                                  #        SETRRECR, WAITLIST
023315,002263: 
023316,002264:                                                                                                  #  JOBS OR TASKS INITIATED_
023317,002265: 
023318,002266:                                                                                                  #        BEGDES
023319,002267: 
023320,002268:                                                                                                  #  ALARMS_  NONE
023321,002269: 
023322,002270:                                                                                                  #  EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023323,002271:                                                                                                  #        L+2 OF CALLING PROGRAM (SEE RRDESNB)
023324,002272: 
023325,002273: 25,2443           25112        STARTDES           INCR     DESRET                                
023326,002274: 25,2444           40110                           CS       RADMODES                              
023327,002275: 25,2445           74742                           MASK     DESIGBIT                              
023328,002276: 25,2446           26110                           ADS      RADMODES                              
023329,002277: 25,2447           74741                           MASK     REPOSBIT                              #  SEE IF REPOSITIONING IN PROGRESS.
023330,002278: 25,2450           10000                           CCS      A                                     
023331,002279: 25,2451           12457                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
023332,002280: 
023333,002281: 25,2452           02167                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.

Page 545

023335,002283: 25,2453           34752                           CAF      TWO                                   
023336,002284: 25,2454           05203                           TC       WAITLIST                              
023337,002285: 25,2455  E7,1456                                  EBANK=   LOSCOUNT                              
023338,002286: 25,2455           02604 52067                     2CADR    BEGDES                                
023339,002287: 
023340,002288: 25,2457           31303        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
023341,002289: 25,2460           00006                           EXTEND                                         
023342,002290: 25,2461           12463                           BZF      DESRTRN                               #  YES   SET EXIT
023343,002291: 25,2462           05155                           TC       ENDOFJOB                              #  NO
023344,002292: 25,2463           00003        DESRTRN            RELINT                                         
023345,002293: 25,2464           25112                           INCR     DESRET                                
023346,002294: 25,2465           31112                           CA       DESRET                                
023347,002295: 25,2466           14640                           TCF      BANKJUMP                              
023348,002296: 
023349,002297: 25,2467           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE OUT ANYONE
023350,002298: 25,2470           55303                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
023351,002299: 25,2471           12463                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
023352,002300: 

Page 546

023354,002302:                                                                                                  #  SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023355,002303: 
023356,002304: 25,2472           02244        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
023357,002305: 25,2473           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
023358,002306: 25,2474           01110                           ADRES    MODEB                                 
023359,002307: 25,2475           12502                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
023360,002308: 
023361,002309: 25,2476           02244                           TC       RMODINV                               #  RESET BIT12
023362,002310: 25,2477           34736                           CAF      REMODBIT                              #  SET FLAG FOR REMODE.
023363,002311: 25,2500           26110                           ADS      RADMODES                              
023364,002312: 
023365,002313: 25,2501           12423                           TCF      OKDESSM                               
023366,002314: 
023367,002315: 25,2502           02244        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
023368,002316: 25,2503           25112                           INCR     DESRET                                #  TO CALLER +2
023369,002317: 25,2504           12467                           TCF      NORDSTAL                              
023370,002318: 
023371,002319: 25,2505           00074        MAXTRYS            DEC      60         B-14                       
023372,002320: 

Page 547

023374,002322:                                                                                                  #  DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION).  ENTER WITH DESIRED ANGLES IN
023375,002323:                                                                                                  #  TANG AND TANG +1.
023376,002324: 
023377,002325: 25,2506           04645        RRDESNB            TC       MAKECADR                              
023378,002326: 25,2507           55112                           TS       DESRET                                
023379,002327: 
023380,002328: 25,2510           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
023381,002329: 25,2511           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
023382,002330: 25,2512           32505                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
023383,002331: 25,2513           55113                           TS       DESCOUNT                              #  FOR DESIGNATE
023384,002332: 25,2514           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
023385,002333: 25,2515           02551                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023386,002334: 25,2516           01106                           ADRES    TANG                                  
023387,002335: 25,2517           12534                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
023388,002336: 
023389,002337: 25,2520           00003        OKDESNB            RELINT                                         
023390,002338: 25,2521           00006                           EXTEND                                         
023391,002339: 25,2522           31107                           DCA      TANG                                  
023392,002340: 25,2523           53753                           DXCH     TANGNB                                
023393,002341: 25,2524           06042                           TC       INTPRET                               
023394,002342: 
023395,002343: 25,2525           77624                           CALL                                           #  GET LOS IN NB COORDS.
023396,002344: 25,2526           46041                                    RRNB                                  
023397,002345: 25,2527           01101                           STORE    RRTARGET                              
023398,002346: 
023399,002347: 25,2530           77414                           SET      EXIT                                  
023400,002348: 25,2531           00071                                    RRNBSW                                
023401,002349: 
023402,002350: 25,2532           00004                           INHINT                                         
023403,002351: 25,2533           12444                           TCF      STARTDES   +1                         
023404,002352: 25,2534           02244        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
023405,002353: 25,2535           02551                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023406,002354: 25,2536           01106                           ADRES    TANG                                  
023407,002355: 25,2537           12544                           TCF      NODESNB                               #  NOT POSSIBLE.
023408,002356: 
023409,002357: 25,2540           02244                           TC       RMODINV                               
023410,002358: 25,2541           34736                           CAF      REMODBIT                              #  CALL FOR REMODE.
023411,002359: 25,2542           26110                           ADS      RADMODES                              
023412,002360: 25,2543           12520                           TCF      OKDESNB                               
023413,002361: 
023414,002362: 25,2544           02244        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
023415,002363: 25,2545           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
023416,002364: 25,2546           00502                           OCT      502                                   
023417,002365: 25,2547           06011                           TC       CLRADMOD                              
023418,002366: 25,2550           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
023419,002367: 
023420,002368: 25,2551           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023421,002369: 25,2552           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
023422,002370: 25,2553           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
023423,002371: 25,2554           00006                           EXTEND                                         

Page 548

023425,002373: 25,2555           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
023426,002374: 25,2556           30001                           DCA      0                                     
023427,002375: 25,2557           52062                           DXCH     ITEMP1                                
023428,002376: 25,2560           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
023429,002377: 
023430,002378: 25,2561           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
023431,002379: 25,2562           70110                           MASK     RADMODES                              
023432,002380: 25,2563           10000                           CCS      A                                     
023433,002381: 25,2564           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
023434,002382: 25,2565           30061                           CA       ITEMP1                                
023435,002383: 25,2566           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
023436,002384: 25,2567           66161                           DEC      -.30555                               #  1.    ABS(T) L 55 DEGS
023437,002385: 25,2570           00001                           TC       L                                     #  2     SHAFT LIMITS AT +59, -85 DEGS
023438,002386: 
023439,002387: 25,2571           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
023440,002388: 25,2572           00006                           EXTEND                                         
023441,002389: 25,2573           62601                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023442,002390: 25,2574           64562                           AD       5.5DEGS                               
023443,002391: 25,2575           04512        SHAFTLIM           TC       MAGSUB                                
023444,002392: 25,2576           64420                           DEC      -.35833                               #  64.5 DEGREES
023445,002393: 25,2577           00001                           TC       L                                     #  NOT IN LIMITS
023446,002394: 25,2600           04560                           TC       RRLIMOK                               #  IN LIMITS
023447,002395: 25,2601           62603        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023448,002396: 25,2602           12575                           TCF      SHAFTLIM                              
023449,002397: 
023450,002398: 25,2603           03512        20.5DEGS           DEC      .11389                                
023451,002399: 

Page 549

023453,002401:                                                                                                  #  PROGRAM NAME_  BEGDES
023454,002402: 
023455,002403:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023456,002404:                                                                                                  #        BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023457,002405:                                                                                                  #        ACTUAL RR DESIGNATION.  INITIALLY A CHECK IS MADE TO SEE IF A
023458,002406:                                                                                                  #        REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS.  IF SO,
023459,002407:                                                                                                  #        CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023460,002408:                                                                                                  #        EXECUTED.  IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023461,002409:                                                                                                  #        FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF
023462,002410:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023463,002411:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO RDBADEND.  IF THE REPOSITION
023464,002412:                                                                                                  #        FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023465,002413:                                                                                                  #        BIT 15) IS CHECKED.  IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023466,002414:                                                                                                  #        MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023467,002415:                                                                                                  #        REPEATING AT STDESIG.  IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023468,002416:                                                                                                  #        TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023469,002417:                                                                                                  #        IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023470,002418:                                                                                                  #        BIT 10) IS CHECKED.  IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023471,002419:                                                                                                  #        CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM.  IF DESIGNATE
023472,002420:                                                                                                  #        IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023473,002421:                                                                                                  #        EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023474,002422:                                                                                                  #        SIGNAL.  IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023475,002423:                                                                                                  #        RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023476,002424:                                                                                                  #        (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023477,002425:                                                                                                  #        (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND.  IF
023478,002426:                                                                                                  #        TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023479,002427:                                                                                                  #        EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023480,002428:                                                                                                  #        BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023481,002429: 
023482,002430:                                                                                                  #  CALLING SEQUENCE:
023483,002431: 
023484,002432:                                                                                                  #        WAITLIST CALL FROM STARTDES
023485,002433:                                                                                                  #        TCF BEGDES FROM DORREPOS
023486,002434:                                                                                                  #        TC STDESIG RETURNING, FROM REMODE
023487,002435: 
023488,002436:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023489,002437:                                                                                                  #        DESCOUNT, RADMODES
023490,002438: 
023491,002439:                                                                                                  #  SUBROUTINES CALLED_
023492,002440:                                                                                                  #        ENDRADAR, FINDVAC
023493,002441: 
023494,002442:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
023495,002443: 
023496,002444:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023497,002445:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023498,002446: 
023499,002447:                                                                                                  #  EXIT_         TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023500,002448:                                                                                                  #                ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023501,002449:                                                                                                  #                RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023502,002450: 
023503,002451: 25,2604           40110        BEGDES             CS       RADMODES                              

Page 550

023505,002453: 25,2605           74736                           MASK     REMODBIT                              
023506,002454: 25,2606           10000                           CCS      A                                     
023507,002455: 25,2607           02613                           TC       STDESIG                               
023508,002456: 25,2610           02202                           TC       REMODE                                
023509,002457: 25,2611           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
023510,002458: 25,2612           00062                           DEC      50         B-14                       
023511,002459: 
023512,002460: 25,2613           34741        STDESIG            CAF      REPOSBIT                              
023513,002461: 25,2614           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023514,002462: 25,2615           10000                           CCS      A                                     #  OUT OF BOUNDS.  IF SO, THIS BIT SHOWS A
023515,002463: 25,2616           12634                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
023516,002464: 
023517,002465: 25,2617           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
023518,002466: 25,2620           12623                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
023519,002467: 25,2621           12623                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023520,002468: 25,2622           12640                           TCF      MOREDES    +1                         
023521,002469: 
023522,002470: 25,2623           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
023523,002471: 25,2624           74742                           MASK     DESIGBIT                              #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023524,002472: 25,2625           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT).  IF SO, EXIT AFTER
023525,002473: 25,2626           13551                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
023526,002474: 
023527,002475: 25,2627           11113        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
023528,002476: 25,2630           12637                           TCF      MOREDES                               
023529,002477: 
023530,002478: 25,2631           42645                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023531,002479: 25,2632           00006                           EXTEND                                         
023532,002480: 25,2633           03012                           WAND     CHAN12                                
023533,002481: 25,2634           05516        BADDES             TC       DOWNFLAG                              
023534,002482: 25,2635           00271                           ADRES    DESIGFLG                              
023535,002483: 25,2636           13565                           TCF      RDBADEND                              
023536,002484: 
023537,002485: 25,2637           55113        MOREDES            TS       DESCOUNT                              
023538,002486: 25,2640           37717                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
023539,002487: 25,2641           05105                           TC       FINDVAC                               
023540,002488: 25,2642  E7,1456                                  EBANK=   LOSCOUNT                              
023541,002489: 25,2642           02646 52067                     2CADR    DODES                                 
023542,002490: 
023543,002491: 25,2644           12611                           TCF      DESLOOP                               
023544,002492: 
023545,002493: 25,2645           20002        B14+B2             OCT      20002                                 
023546,002494: 

Page 551

023548,002496:                                                                                                  #  PROGRAM NAME_  DODES
023549,002497: 
023550,002498:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023551,002499: 
023552,002500:                                                                                                  #        DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023553,002501:                                                                                                  #        COMMANDS.  INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023554,002502:                                                                                                  #        THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023555,002503:                                                                                                  #        NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY.  THE
023556,002504:                                                                                                  #        SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023557,002505:                                                                                                  #                + SHAFT = LOS . (COS(S), 0, -SIN(S))  (DOT PRODUCT)
023558,002506:                                                                                                  #                - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023559,002507:                                                                                                  #        THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023560,002508:                                                                                                  #        (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE 
023561,002509:                                                                                                  #        POLARITY OF THE COMMAND.  AT RRSCALUP EACH COMMAND IS
023562,002510:                                                                                                  #        SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023563,002511:                                                                                                  #        .5 DEGREES, MPAC +1 IS SET POSITIVE.  IF A CONTINUOUS DESIGNATE 
023564,002512:                                                                                                  #        (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023565,002513:                                                                                                  #        THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023566,002514:                                                                                                  #        CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023567,002515:                                                                                                  #        IS IN PROGRESS.  IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023568,002516:                                                                                                  #        OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED.  IF NO
023569,002517:                                                                                                  #        CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023570,002518:                                                                                                  #        INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023571,002519:                                                                                                  #        CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023572,002520:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5
023573,002521:                                                                                                  #        DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023574,002522:                                                                                                  #        (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023575,002523:                                                                                                  #        COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023576,002524:                                                                                                  #        PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023577,002525:                                                                                                  #        LOCK-ON FLAG (STATE BIT 5) IS CHECKED.  IF NOT PRESENT, THE
023578,002526:                                                                                                  #        DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023579,002527:                                                                                                  #        COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023580,002528:                                                                                                  #        CALLED.  IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023581,002529:                                                                                                  #        BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023582,002530:                                                                                                  #        RR DATA GOOD (CHAN 33 BIT 4) SIGNAL.  IF RR DATA GOOD
023583,002531:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023584,002532:                                                                                                  #        THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023585,002533:                                                                                                  #        AND ENDOFJOB CALLED.  IF RR DATA GOOD IS NOT PRESENT, RROUT
023586,002534:                                                                                                  #        IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023587,002535:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023588,002536:                                                                                                  #        VIA ENDOFJOB.
023589,002537: 
023590,002538:                                                                                                  #  CALLING SEQUENCE:
023591,002539: 
023592,002540:                                                                                                  #        EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023593,002541: 
023594,002542:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023595,002543: 
023596,002544:                                                                                                  #        RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023597,002545:                                                                                                  #        LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023598,002546: 
023599,002547:                                                                                                  #  SUBROUTINES CALLED_
023600,002548: 
023601,002549:                                                                                                  #        READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT

Page 552

023603,002551: 
023604,002552:                                                                                                  #  JOBS OR TASKS INITIATED_
023605,002553: 
023606,002554:                                                                                                  #        NONE
023607,002555: 
023608,002556:                                                                                                  #  ALARMS_  NONE
023609,002557: 
023610,002558:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
023611,002559: 
023612,002560: 25,2646           00006        DODES              EXTEND                                         
023613,002561: 25,2647           30036                           DCA      CDUT                                  
023614,002562: 25,2650           53107                           DXCH     TANG                                  
023615,002563: 
023616,002564: 25,2651           06042                           TC       INTPRET                               
023617,002565: 
023618,002566: 25,2652           77201                           SETPD    VLOAD                                 
023619,002567: 25,2653           00001                                    0                                     
023620,002568: 25,2654           01101                                    RRTARGET                              
023621,002569: 25,2655           74214                           BON      VXSC                                  
023622,002570: 25,2656           00311                                    RRNBSW                                
023623,002571: 25,2657           52671                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
023624,002572: 25,2660           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
023625,002573: 25,2661           63372                           VSL1     PDVL                                  
023626,002574: 25,2662           01761                                    LOSVEL                                
023627,002575: 25,2663           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
023628,002576: 25,2664           13101                                    MCTOMS                                
023629,002577: 25,2665           45056                           UNIT     CALL                                  
023630,002578: 25,2666           47541                                    CDUTRIG                               
023631,002579: 25,2667           77624                           CALL                                           
023632,002580: 25,2670           47673                                    *SMNB*                                
023633,002581: 
023634,002582: 25,2671           14041        DONBRD             STODL    32D                                   
023635,002583: 25,2672           01110                                    TANG       +1                         
023636,002584: 25,2673           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
023637,002585: 25,2674           21577                                    CDULOGIC                              #        (-SIN(S)).
023638,002586: 25,2675           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
023639,002587: 25,2676           41546                           COS      PUSH                                  
023640,002588: 25,2677           65205                           DMP      PDDL                                  
023641,002589: 25,2700           00041                                    32D                                   
023642,002590: 25,2701           00045                                    36D                                   
023643,002591: 25,2702           44205                           DMP      BDSU                                  
023644,002592: 25,2703           00001                                    0                                     
023645,002593: 25,2704           77626                           STADR                                          
023646,002594: 25,2705           76667                           STORE    TANG       +1                         #  SHAFT COMMAND
023647,002595: 
023648,002596: 25,2706           47135                           SLOAD    RTB                                   
023649,002597: 25,2707           01107                                    TANG                                  
023650,002598: 25,2710           21577                                    CDULOGIC                              
023651,002599: 25,2711           71406                           PUSH     COS                                   #  COS(T) TO 4.
023652,002600: 25,2712           73525                           PDDL     SIN                                   
023653,002601: 25,2713           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
023654,002602: 25,2714           00003                                    2                                     

Page 553

023656,002604: 25,2715           65352                           SL1      PDDL                                  #  DEFINE VECTOR U =     (SIN(T)SIN(S))
023657,002605: 25,2716           00005                                    4                                     #                        (   COS(T)   )
023658,002606: 25,2717           41325                           PDDL     DMP                                   #                        (SIN(T)COS(S))
023659,002607: 25,2720           00007                                    6                                     
023660,002608: 25,2721           00001                                    0                                     
023661,002609: 25,2722           55552                           SL1      VDEF                                  
023662,002610: 25,2723           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
023663,002611: 25,2724           00041                                    32D                                   
023664,002612: 

Page 554

023666,002614:                                                                                                  #  AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE.  CONVERT THIS TO A
023667,002615:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023668,002616: 
023669,002617: 25,2725           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
023670,002618: 25,2726           00006                           EXTEND                                         
023671,002619: 25,2727           73075                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023672,002620: 25,2730           55354                           TS       TRUNNCMD                              #  TRUNNION COMMAND FOR RROUT
023673,002621: 25,2731           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
023674,002622: 25,2732           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
023675,002623: 25,2733           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
023676,002624: 25,2734           12737                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
023677,002625: 25,2735           31107                           CA       TANG       +1                         #  SHAFT ANGLE.  COMPENSATE FOR THIS SWITCH
023678,002626: 25,2736           12740                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
023679,002627: 25,2737           41107                 +3        CS       TANG       +1                         
023680,002628: 25,2740           00006                           EXTEND                                         
023681,002629: 25,2741           73075                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023682,002630: 25,2742           55355                           TS       SHAFTCMD                              #  SHAFT COMMAND FOR RROUT
023683,002631: 25,2743           06042                           TC       INTPRET                               
023684,002632: 
023685,002633: 25,2744           41345                           DLOAD    DMP                                   
023686,002634: 25,2745           00003                                    2                                     #  COS(S).
023687,002635: 25,2746           00005                                    4                                     #  COS(T).
023688,002636: 25,2747           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
023689,002637: 25,2750           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
023690,002638: 25,2751           00001                                    0                                     #  SIN(S).
023691,002639: 25,2752           72405                           DMP      SL1                                   
023692,002640: 25,2753           00005                                    4                                     #  COS(T).
023693,002641: 25,2754           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
023694,002642: 25,2755           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
023695,002643: 25,2756           52761                                    +3                                    
023696,002644: 25,2757           77624                           CALL                                           
023697,002645: 25,2760           47675                                    *NBSM*                                #  GET URR IN SM AXES.
023698,002646: 25,2761           77441                           DOT      EXIT                                  
023699,002647: 25,2762           01101                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
023700,002648: 
023701,002649: 25,2763           00006                           EXTEND                                         
023702,002650: 25,2764           43077                           DCS      COS1/2DG                              
023703,002651: 25,2765           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
023704,002652: 25,2766           10154                           CCS      MPAC                                  
023705,002653: 25,2767           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
023706,002654: 25,2770           12772                           TCF      +2                                    
023707,002655: 25,2771           34753                           CA       ONE                                   
023708,002656: 25,2772           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.

Page 555

023710,002658:                                                                                                  #  SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023711,002659: 
023712,002660: 25,2773           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023713,002661: 25,2774           12777                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
023714,002662: 25,2775           12777                           TCF      SIGNLCHK                              #  ERROR SIGNALS
023715,002663: 25,2776           13027                           TCF      DORROUT                               
023716,002664: 25,2777           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023717,002665: 25,3000           13010                           TCF      DGOODCHK                              
023718,002666: 25,3001           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023719,002667: 25,3002           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
023720,002668: 25,3003           10000                           CCS      A                                     
023721,002669: 25,3004           13015                           TCF      RRDESDUN                              
023722,002670: 
023723,002671: 25,3005           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
023724,002672: 25,3006           00006                           EXTEND                                         
023725,002673: 25,3007           05012                           WOR      CHAN12                                
023726,002674: 
023727,002675: 25,3010           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
023728,002676: 25,3011           00006                           EXTEND                                         
023729,002677: 25,3012           02033                           RAND     CHAN33                                
023730,002678: 25,3013           10000                           CCS      A                                     
023731,002679: 25,3014           13027                           TCF      DORROUT                               
023732,002680: 
023733,002681: 25,3015           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023734,002682: 25,3016           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
023735,002683: 25,3017           00004                           INHINT                                         
023736,002684: 25,3020           54110                           TS       RADMODES                              
023737,002685: 
023738,002686: 25,3021           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
023739,002687: 25,3022           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
023740,002688: 25,3023           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
023741,002689: 25,3024           00006                           EXTEND                                         
023742,002690: 25,3025           03012                           WAND     CHAN12                                
023743,002691: 25,3026           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
023744,002692: 
023745,002693: 25,3027           30076        DORROUT            CA       FLAGWRD2                              #  IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023746,002694: 25,3030           77715                           MASK     BIT12,14                              #  ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023747,002695: 25,3031           00006                           EXTEND                                         
023748,002696: 25,3032           13051                           BZF      NOTP20                                
023749,002697: 25,3033           06042                           TC       INTPRET                               
023750,002698: 25,3034           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
023751,002699: 25,3035           01101                                    RRTARGET                              
023752,002700: 25,3036           01767                                    MLOSV                                 
023753,002701: 25,3037           41572                           VSL1     PUSH                                  
023754,002702: 25,3040           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
023755,002703: 25,3041           01761                                    LOSVEL                                #  TO LOS VECTOR
023756,002704: 25,3042           13101                                    MCTOMS                                
023757,002705: 25,3043           53362                           VSR1     VAD                                   
023758,002706: 25,3044           77656                           UNIT                                           
023759,002707: 25,3045           15101                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)

Page 556

023761,002709: 25,3046           00045                                    36D                                   
023762,002710: 25,3047           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
023763,002711: 25,3050           77776                           EXIT                                           
023764,002712: 25,3051           00004        NOTP20             INHINT                                         
023765,002713: 25,3052           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
023766,002714: 25,3053           74741                           MASK     REPOSBIT                              #  REPOSITION HAS TAKEN OVER.
023767,002715: 25,3054           10000                           CCS      A                                     
023768,002716: 25,3055           02317                           TC       RROUT                                 
023769,002717: 
023770,002718: 25,3056           30076                           CA       FLAGWRD2                              
023771,002719: 25,3057           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
023772,002720: 25,3060           00006                           EXTEND                                         #  LOS COUNTER
023773,002721: 25,3061           15155                           BZF      ENDOFJOB                              
023774,002722: 25,3062           11456                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
023775,002723: 25,3063           03073                           TC       DODESEND                              #  A NEW LOS
023776,002724: 25,3064           06032                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
023777,002725: 25,3065           52613                           CADR     DESLOOP    +2                         
023778,002726: 25,3066           00003                           RELINT                                         
023779,002727: 25,3067           10067                           CCS      NEWJOB                                
023780,002728: 25,3070           05122                           TC       CHANG1                                
023781,002729: 25,3071           04616                           TC       BANKCALL                              
023782,002730: 25,3072           50732                           CADR     R21LEM2                               
023783,002731: 
023784,002732: 25,3073           55456        DODESEND           TS       LOSCOUNT                              
023785,002733: 25,3074           05155                           TC       ENDOFJOB                              
023786,002734: 
023787,002735: 25,3075           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
023788,002736: 25,3076     7715               BIT12,14           EQUALS   PRIO24                                #  OCT 24000
023789,002737: 25,3076           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
023790,002738: 25,3100           00310 00000  MCTOMS             2DEC     100        B-13                       
023791,002739: 

Page 557

023793,002741:                                                                                                  #  RADAR READ INITIALIZATION
023794,002742: 
023795,002743:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023796,002744: 
023797,002745: 25,3102           03122        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
023798,002746: 25,3103           00017        ALLREAD            OCT      17                                    
023799,002747: 
023800,002748: 25,3104           03123        LRVELZ             TC       INITREAD                              
023801,002749: 25,3105           00016                           OCT      16                                    
023802,002750: 
023803,002751: 25,3106           03123        LRVELY             TC       INITREAD                              
023804,002752: 25,3107           00015                           OCT      15                                    
023805,002753: 
023806,002754: 25,3110           03123        LRVELX             TC       INITREAD                              
023807,002755: 25,3111           00014                           OCT      14                                    
023808,002756: 
023809,002757: 25,3112           03122        RRRDOT             TC       INITREAD   -1                         
023810,002758: 25,3113           00012                           OCT      12                                    
023811,002759: 
023812,002760: 25,3114           03122        RRRANGE            TC       INITREAD   -1                         
023813,002761: 25,3115           00011                           OCT      11                                    
023814,002762: 
023815,002763:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023816,002764:                                                                                                  #  WANTED.  ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023817,002765: 
023818,002766: 25,3116           55104        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
023819,002767: 25,3117           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
023820,002768: 25,3120           51104                           INDEX    TIMEHOLD                              
023821,002769: 25,3121           13104                           TCF      LRVELZ                                
023822,002770: 

Page 558

023824,002772: 25,3122           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
023825,002773: 25,3123           00004        INITREAD           INHINT                                         
023826,002774: 
023827,002775: 25,3124           55104                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
023828,002776: 25,3125           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023829,002777: 25,3126           74751                           MP       BIT3                                  #  ENCOUNTERED).
023830,002778: 25,3127           53105                           DXCH     TIMEHOLD                              
023831,002779: 
023832,002780: 25,3130           10000                           CCS      A                                     
023833,002781: 25,3131           55110                           TS       NSAMP                                 
023834,002782: 25,3132           64753                           AD       ONE                                   
023835,002783:                                                                                                  #  INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023836,002784:                                                                                                  #                DOUBLE
023837,002785: 25,3133           55077                           TS       SAMPLIM                               
023838,002786: 
023839,002787: 25,3134           33156                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
023840,002788: 25,3135           00006                           EXTEND                                         
023841,002789: 25,3136           02033                           RAND     CHAN33                                
023842,002790: 25,3137           55112                           TS       OLDATAGD                              
023843,002791: 
023844,002792: 25,3140           43103                           CS       ALLREAD                               
023845,002793: 25,3141           00006                           EXTEND                                         
023846,002794: 25,3142           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
023847,002795: 
023848,002796: 25,3143           50002                           INDEX    Q                                     
023849,002797: 25,3144           30000                           CAF      0                                     
023850,002798: 25,3145           04674                           TC       IBNKCALL                              
023851,002799: 25,3146           36000                           CADR     RADSTART                              
023852,002800: 
023853,002801: 25,3147           00006                           EXTEND                                         
023854,002802: 25,3150           30025                           DCA      TIME2                                 
023855,002803: 25,3151           21105                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
023856,002804: 
023857,002805: 25,3152           34755                           CAF      ZERO                                  
023858,002806: 25,3153           54001                           TS       L                                     
023859,002807: 25,3154           53101                           DXCH     SAMPLSUM                              
023860,002808: 25,3155           12377                           TCF      ROADBACK                              
023861,002809: 
023862,002810: 25,3156           00230        DGBITS             OCT      230                                   
023863,002811: 

Page 559

023865,002813:                                                                                                  #  RADAR RUPT READER
023866,002814: 
023867,002815:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT.  IT READS THE DATA $ LOTS MORE.
023868,002816: 
023869,002817: 25,2000                                           SETLOC   RADARUPT                              
023870,002818: 25,2000                                           BANK                                           
023871,002819: 
023872,002820: 25,3157                                           COUNT*   $$/RRUPT                              
023873,002821: 25,3157           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
023874,002822: 25,3160           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
023875,002823: 25,3161           54016                           TS       BANKRUPT                              
023876,002824: 25,3162           00006                           EXTEND                                         
023877,002825: 25,3163           22012                           QXCH     QRUPT                                 
023878,002826: 
023879,002827: 25,3164           00006                           EXTEND                                         
023880,002828: 25,3165           31454                           DCA      TTOGO                                 #  LOAD TIME TO TIG
023881,002829: 25,3166           53272                           DXCH     TTOTIG                                #  FOR R65 RADAR READING.
023882,002830: 
023883,002831: 25,3167           34757                           CAF      SEVEN                                 
023884,002832: 25,3170           00006                           EXTEND                                         
023885,002833: 25,3171           02013                           RAND     CHAN13                                
023886,002834: 25,3172           55332                           TS       DNINDEX                               
023887,002835: 25,3173           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO, DO NOT STORE
023888,002836: 25,3174           13200                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023889,002837: 25,3175           30046                           CA       RNRAD                                 
023890,002838: 25,3176           51332                           INDEX    DNINDEX                               
023891,002839: 25,3177           55327                           TS       DNRRANGE   -1                         
023892,002840: 25,3200           11077        TRYCOUNT           CCS      SAMPLIM                               
023893,002841: 25,3201           13223                           TCF      PLENTY                                
023894,002842: 25,3202           13206                           TCF      NOMORE                                
023895,002843: 25,3203           05567                           TC       ALARM                                 
023896,002844: 25,3204           00520                           OCT      520                                   
023897,002845: 25,3205           05270                           TC       RESUME                                
023898,002846: 
023899,002847: 25,3206           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
023900,002848: 25,3207           74735                           MASK     LRBYBIT                               
023901,002849: 25,3210           00006                           EXTEND                                         
023902,002850: 25,3211           13220                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
023903,002851: 
023904,002852: 25,3212           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
023905,002853: 25,3213           74743                           MASK     R04FLBIT                              #  IF 1, R04 IS RUNNING.  DO NOT ALARM-
023906,002854: 25,3214           00006                           EXTEND                                         
023907,002855: 25,3215           13220                           BZF      BADRAD                                
023908,002856: 
023909,002857: 25,3216           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
023910,002858: 25,3217           00521                           OCT      521                                   
023911,002859: 25,3220           44753        BADRAD             CS       ONE                                   
023912,002860: 25,3221           55077                           TS       SAMPLIM                               
023913,002861: 25,3222           03563                           TC       RDBADEND   -2                         
023914,002862: 25,3223           55077        PLENTY             TS       SAMPLIM                               

Page 560

023916,002864: 25,3224           34751                           CAF      BIT3                                  
023917,002865: 25,3225           00006                           EXTEND                                         
023918,002866: 25,3226           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
023919,002867: 25,3227           00006                           EXTEND                                         
023920,002868: 25,3230           13277                           BZF      RENDRAD                               
023921,002869: 
023922,002870: 25,3231           03365                           TC       R77CHECK                              #  R77 QUITS HERE.
023923,002871: 25,3232           36250        VELCHK             CAF      BIN3                                  #  = 00003 OCT
023924,002872: 25,3233           00006                           EXTEND                                         
023925,002873: 25,3234           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
023926,002874: 25,3235           76250                           MASK     BIN3                                  
023927,002875: 25,3236           00006                           EXTEND                                         
023928,002876: 25,3237           13273                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
023929,002877: 
023930,002878: 25,3240           34733                           CAF      POSMAX                                
023931,002879: 25,3241           70046                           MASK     RNRAD                                 
023932,002880: 25,3242           62000                           AD       LVELBIAS                              
023933,002881: 25,3243           54001                           TS       L                                     
023934,002882: 25,3244           30046                           CAE      RNRAD                                 
023935,002883: 25,3245           60000                           DOUBLE                                         
023936,002884: 25,3246           74753                           MASK     BIT1                                  
023937,002885: 25,3247           52064                           DXCH     ITEMP3                                
023938,002886: 
023939,002887: 25,3250           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023940,002888: 25,3251           03425                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
023941,002889:                                                                                                  #  INDEPENDENT OF DATA GOOD.
023942,002890: 
023943,002891: 25,3252           11110                           CCS      NSAMP                                 
023944,002892: 25,3253           03263                           TC       NOEND                                 
023945,002893: 25,3254           44753        GOODRAD            CS       ONE                                   
023946,002894: 25,3255           55077                           TS       SAMPLIM                               
023947,002895: 25,3256           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023948,002896: 25,3257           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
023949,002897: 25,3260           54110                           TS       RADMODES                              
023950,002898: 25,3261           03612                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
023951,002899: 25,3262           03556                           TC       RGOODEND   -2                         
023952,002900: 
023953,002901: 25,3263           55110        NOEND              TS       NSAMP                                 
023954,002902: 25,3264           11077        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
023955,002903: 25,3265           13267                           TCF      +2                                    
023956,002904: 25,3266           13444                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
023957,002905: 25,3267           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
023958,002906: 25,3270           04674                           TC       IBNKCALL                              
023959,002907: 25,3271           36000                           CADR     RADSTART                              
023960,002908: 
023961,002909: 25,3272           05270                           TC       RESUME                                
023962,002910: 
023963,002911: 25,3273           34747        LRHEIGHT           CAF      BIT5                                  
023964,002912: 25,3274           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)

Page 561

023966,002914: 25,3275           34743                           CAF      BIT9                                  
023967,002915: 25,3276           03321                           TC       SCALECHK   -1                         
023968,002916: 
023969,002917: 25,3277           34741        RENDRAD            CAF      REPOSBIT                              #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
023970,002918: 25,3300           70110                           MASK     RADMODES                              #  LIMITS.
023971,002919: 25,3301           10000                           CCS      A                                     
023972,002920: 25,3302           13220                           TCF      BADRAD                                
023973,002921: 
023974,002922: 25,3303           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
023975,002923: 25,3304           74745                           MASK     RCDUFBIT                              
023976,002924: 25,3305           10000                           CCS      A                                     
023977,002925: 25,3306           13220                           TCF      BADRAD                                
023978,002926: 
023979,002927: 25,3307           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
023980,002928: 25,3310           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
023981,002929: 
023982,002930: 25,3311           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
023983,002931: 25,3312           00006                           EXTEND                                         
023984,002932: 25,3313           02013                           RAND     CHAN13                                
023985,002933: 25,3314           54002                           TS       Q                                     #  FOR LATER TESTING.
023986,002934: 25,3315           10000                           CCS      A                                     
023987,002935: 25,3316           13320                           TCF      +2                                    
023988,002936: 25,3317           13332                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
023989,002937: 25,3320           34751                           CAF      BIT3                                  
023990,002938: 25,3321           54001                           TS       L                                     
023991,002939: 
023992,002940: 25,3322           00006        SCALECHK           EXTEND                                         
023993,002941: 25,3323           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
023994,002942: 25,3324           56001                           XCH      L                                     
023995,002943: 25,3325           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
023996,002944: 25,3326           00006                           EXTEND                                         
023997,002945: 25,3327           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
023998,002946: 25,3330           10000                           CCS      A                                     
023999,002947: 25,3331           03351                           TC       SCALCHNG                              #  THEY DIFFER
024000,002948: 
024001,002949: 25,3332           34733        RADIN              CAF      POSMAX                                
024002,002950: 25,3333           70046                           MASK     RNRAD                                 
024003,002951: 25,3334           54064                           TS       ITEMP4                                
024004,002952: 
024005,002953: 25,3335           30046                           CAE      RNRAD                                 
024006,002954: 25,3336           60000                           DOUBLE                                         
024007,002955: 25,3337           74753                           MASK     BIT1                                  
024008,002956: 25,3340           54063                           TS       ITEMP3                                
024009,002957: 
024010,002958: 25,3341           10002                           CCS      Q                                     #  SEE IF RR RDOT.
024011,002959: 25,3342           13403                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
024012,002960: 
024013,002961: 25,3343           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
024014,002962: 25,3344           42002                           DCS      RDOTBIAS                              
024015,002963: 25,3345           20064        DASAMPL            DAS      ITEMP3                                

Page 562

024017,002965: 25,3346           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
024018,002966: 25,3347           03426                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
024019,002967: 25,3350           03254                           TC       GOODRAD                               
024020,002968: 
024021,002969: 25,3351           22110        SCALCHNG           LXCH     RADMODES                              
024022,002970: 25,3352           64753                           AD       BIT1                                  
024023,002971: 25,3353           00006                           EXTEND                                         
024024,002972: 25,3354           06001                           RXOR     LCHAN                                 
024025,002973: 25,3355           54110                           TS       RADMODES                              
024026,002974: 25,3356           33156                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
024027,002975: 25,3357           00006                           EXTEND                                         
024028,002976: 25,3360           02033                           RAND     CHAN33                                
024029,002977: 25,3361           55112                           TS       OLDATAGD                              
024030,002978: 25,3362           05504                           TC       UPFLAG                                #  SET RNGSCFLG
024031,002979: 25,3363           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
024032,002980: 25,3364           13220                           TCF      BADRAD                                
024033,002981: 
024034,002982:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024035,002983: 
024036,002984: 25,3365           40101        R77CHECK           CS       FLAGWRD5                              
024037,002985: 25,3366           74741                           MASK     R77FLBIT                              
024038,002986: 25,3367           10000                           CCS      A                                     
024039,002987: 25,3370           00002                           TC       Q                                     #  NOT R77
024040,002988: 25,3371           43402                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
024041,002989: 25,3372           70110                           MASK     RADMODES                              
024042,002990: 25,3373           54001                           TS       L                                     
024043,002991: 25,3374           33402                           CA       BITS5,8                               
024044,002992: 25,3375           00006                           EXTEND                                         
024045,002993: 25,3376           02033                           RAND     CHAN33                                
024046,002994: 25,3377           60001                           AD       L                                     
024047,002995: 25,3400           54110                           TS       RADMODES                              
024048,002996: 25,3401           03556                           TC       RGOODEND   -2                         
024049,002997: 25,3402           00220        BITS5,8            OCT      220                                   
024050,002998: 

Page 563

024052,003000:                                                                                                  #  THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024053,003001: 
024054,003002: 25,3403           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
024055,003003: 25,3404           13406                           TCF      +2                                    #  ON HIGH SCALE.
024056,003004: 25,3405           13346                           TCF      DGCHECK2                              
024057,003005: 
024058,003006: 25,3406           31332                           CA       DNINDEX                               
024059,003007: 25,3407           74751                           MASK     BIT3                                  
024060,003008: 25,3410           10000                           CCS      A                                     
024061,003009: 25,3411           13420                           TCF      LRSCK                                 
024062,003010: 
024063,003011: 25,3412           52064                           DXCH     ITEMP3                                
024064,003012: 25,3413           20001                           DDOUBL                                         
024065,003013: 25,3414           20001                           DDOUBL                                         
024066,003014: 25,3415           20001                           DDOUBL                                         
024067,003015: 25,3416           52064                           DXCH     ITEMP3                                
024068,003016: 
024069,003017: 25,3417           13346                           TCF      DGCHECK2                              
024070,003018: 
024071,003019: 25,3420           00006        LRSCK              EXTEND                                         
024072,003020: 25,3421           30064                           DCA      ITEMP3                                
024073,003021: 25,3422           20001                           DDOUBL                                         
024074,003022: 25,3423           20001                           DDOUBL                                         
024075,003023: 25,3424           13345                           TCF      DASAMPL                               
024076,003024: 
024077,003025: 25,3425           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
024078,003026: 25,3426           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
024079,003027: 25,3427           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING.  IF
024080,003028: 25,3430           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN.  IF
024081,003029: 25,3431           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
024082,003030: 25,3432           71112                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
024083,003031: 25,3433           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024084,003032: 25,3434           57112                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
024085,003033: 25,3435           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
024086,003034: 25,3436           60001                           AD       L                                     
024087,003035: 25,3437           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
024088,003036: 25,3440           03264                           TC       RESAMPLE                              
024089,003037: 25,3441           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
024090,003038: 25,3442           21101                           DAS      SAMPLSUM                              #  ACCUMULATION.
024091,003039: 25,3443           00002                           TC       Q                                     
024092,003040: 
024093,003041: 25,3444           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
024094,003042: 25,3445           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
024095,003043: 25,3446           60061                           AD       ITEMP1                                
024096,003044: 25,3447           54110                           TS       RADMODES                              
024097,003045: 
024098,003046: 25,3450           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
024099,003047: 25,3451           53101                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.

Page 564

024101,003049: 25,3452           03612                           TC       RADLITES                              
024102,003050: 25,3453           13206                           TCF      NOMORE                                
024103,003051: 

Page 565

024105,003053:                                                                                                  #  CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024106,003054: 
024107,003055: 17,2000                                           SETLOC   C13BANK                               
024108,003056: 17,2000                                           BANK                                           
024109,003057: 
024110,003058: 17,2000           54002        RADSTART           TS       Q                                     
024111,003059: 17,2001           00006                 +1        EXTEND                                         
024112,003060: 17,2002           00004                           READ     LOSCALAR                              #  READ PRESENT TIME
024113,003061: 17,2003           54001                           TS       L                                     
024114,003062: 
024115,003063: 17,2004           74346                           MASK     LOW5                                  #  ONLY THE LOW 5 BITS MATTER
024116,003064: 17,2005           40000                           COM                                            
024117,003065: 17,2006           64746                           AD       BIT6                                  #  COMPUTE DELTA TIME TO NEXT T5 TICK
024118,003066: 17,2007           74346                           MASK     LOW5                                  
024119,003067: 17,2010           55270                           TS       RADDEL                                
024120,003068: 
024121,003069: 17,2011           67751                           AD       NEG2                                  #  IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024122,003070: 17,2012           00006                           EXTEND                                         #  IT HAS TICKED.  THE MAX DELAY HERE WILL
024123,003071: 17,2013           62001                           BZMF     RADSTART   +1                         #  BE 937.5 MICROSECONDS
024124,003072: 
024125,003073: 17,2014           30002                           CA       Q                                     
024126,003074: 17,2015           00006                           EXTEND                                         #  IT IS SAFE TO SET THE ACTIVITY BIT NOW
024127,003075: 17,2016           05013                           WOR      CHAN13                                #  BECAUSE OF THE ABOVE LOOP
024128,003076: 
024129,003077: 17,2017           40001                           CS       L                                     
024130,003078: 17,2020           55267                           TS       RADTIME                               #  SAVE NEGATIVE TIME OF READ
024131,003079: 17,2021           04707                           TC       ISWRETRN                              
024132,003080: 
024133,003081: 17,2022           55266        C13STAL1           TS       C13FSAV                               
024134,003082: 
024135,003083: 17,2023           34750                           CA       BIT4                                  
024136,003084: 17,2024           00006                           EXTEND                                         
024137,003085: 17,2025           02013                           RAND     CHAN13                                
024138,003086: 17,2026           00006                           EXTEND                                         
024139,003087: 17,2027           12050                           BZF      TCQSTAL                               #  IF NO RADAR ACTIVITY, RETURN
024140,003088: 
024141,003089: 17,2030           12031        C13SLOOP           NOOP                                           #  *** NECESSARY TO PREVENT A TC TRAP ***
024142,003090: 17,2031           00006                           EXTEND                                         
024143,003091: 17,2032           00004                           READ     LOSCALAR                              
024144,003092: 17,2033           61267                           AD       RADTIME                               #  COMPUTE DELTA T SINCE LAST RADAR READ
024145,003093: 17,2034           64736                           AD       HALF                                  
024146,003094: 17,2035           64736                           AD       HALF                                  #  CORRECT FOR TIME OVERFLOW
024147,003095: 17,2036           56001                           XCH      L                                     
024148,003096: 
024149,003097: 17,2037           32053                           CA       90MSCALR                              
024150,003098: 17,2040           61270                           AD       RADDEL                                
024151,003099: 17,2041           00006                           EXTEND                                         
024152,003100: 17,2042           60001                           SU       L                                     

Page 566

024154,003102: 17,2043           00006                           EXTEND                                         
024155,003103: 17,2044           62050                           BZMF     TCQSTAL                               #  FORBIDDEN ZONE IS PAST, RETURN
024156,003104: 
024157,003105: 17,2045           62054                           AD       -DTSCALR                              
024158,003106: 17,2046           00006                           EXTEND                                         
024159,003107: 17,2047           62030                           BZMF     C13SLOOP                              #  IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024160,003108: 
024161,003109: 17,2050           22002        TCQSTAL            LXCH     Q                                     #  ALL IS WELL, RETURN
024162,003110: 17,2051           31266                           CA       C13FSAV                               
024163,003111: 17,2052           52005                           DTCF                                           
024164,003112: 
024165,003113: 17,2053           00440        90MSCALR           OCT      440                                   #  90 MILLISEC IN SCALAR
024166,003114: 17,2054           77754        -DTSCALR           OCT      77754                                 #  -5.9375 MS IN SCALAR
024167,003115: 
024168,003116:    6000                                           SETLOC   FFTAG6                                
024169,003117:    6000                                           BANK                                           
024170,003118: 
024171,003119:    6022           37727        C13STALL           CAF      PRIO36                                #  PRIO36 = 36000 = FCADR (17,2000)
024172,003120:    6023           56004                           XCH      FBANK                                 
024173,003121:    6024           12022                           TCF      C13STAL1                              
024174,003122: 

Page 567

024176,003124:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024177,003125: 
024178,003126: 25,2000                                           SETLOC   P20S1                                 
024179,003127: 25,2000                                           BANK                                           
024180,003128: 
024181,003129: 25,3454                                           COUNT*   $$/RSUB                               
024182,003130: 25,3454           00004        LRPOS2             INHINT                                         
024183,003131: 
024184,003132: 25,3455           40110                           CS       RADMODES                              
024185,003133: 25,3456           74746                           MASK     LRPOSBIT                              #  SHOW DESIRED LR POSITION IS 2
024186,003134: 25,3457           26110                           ADS      RADMODES                              
024187,003135: 
024188,003136: 25,3460           34745                           CAF      BIT7                                  
024189,003137: 25,3461           00006                           EXTEND                                         
024190,003138: 25,3462           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
024191,003139: 25,3463           00006                           EXTEND                                         
024192,003140: 25,3464           13513                           BZF      RADNOOP                               
024193,003141: 
024194,003142: 25,3465           34737                           CAF      BIT13                                 
024195,003143: 25,3466           00006                           EXTEND                                         
024196,003144: 25,3467           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
024197,003145: 25,3470           33530                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
024198,003146: 25,3471           05203                           TC       WAITLIST                              
024199,003147: 25,3472  E7,1456                                  EBANK=   LOSCOUNT                              
024200,003148: 25,3472           03526 52067                     2CADR    LRPOSCAN                              
024201,003149: 
024202,003150: 25,3474           02377                           TC       ROADBACK                              
024203,003151: 
024204,003152: 25,3475           55077        LRPOSNXT           TS       SAMPLIM                               
024205,003153: 25,3476           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024206,003154: 25,3477           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
024207,003155: 
024208,003156: 25,3500           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
024209,003157: 25,3501           00006                           EXTEND                                         
024210,003158: 25,3502           02033                           RAND     CHAN33                                
024211,003159: 25,3503           00006                           EXTEND                                         
024212,003160: 25,3504           13520                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024213,003161: 
024214,003162: 25,3505           11077                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
024215,003163: 25,3506           13475                           TCF      LRPOSNXT                              
024216,003164: 
024217,003165: 25,3507           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
024218,003166: 25,3510           00006                           EXTEND                                         
024219,003167: 25,3511           03012                           WAND     CHAN12                                
024220,003168: 25,3512           13565                           TCF      RDBADEND                              
024221,003169: 
024222,003170: 25,3513           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
024223,003171: 25,3514           05203                           TC       WAITLIST                              
024224,003172: 25,3515  E7,1456                                  EBANK=   LOSCOUNT                              
024225,003173: 25,3515           03560 52067                     2CADR    RGOODEND                              

Page 568

024227,003175: 25,3517           02377                           TC       ROADBACK                              
024228,003176: 
024229,003177: 25,3520           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024230,003178: 25,3521           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024231,003179: 
024232,003180: 25,3522           44737                           CS       BIT13                                 #  REMOVE COMMAND
024233,003181: 25,3523           00006                           EXTEND                                         
024234,003182: 25,3524           03012                           WAND     CHAN12                                
024235,003183: 25,3525           13560                           TCF      RGOODEND                              
024236,003184: 
024237,003185: 25,3526           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
024238,003186: 25,3527           13475                           TCF      LRPOSNXT                              
024239,003187: 25,3530           01130        6SECS              DEC      600        B-14                       
024240,003188: 
024241,003189: 25,3531           03454        LRP2COMM           TC       LRPOS2                                
024242,003190: 25,3532           04616                           TC       BANKCALL                              
024243,003191: 25,3533           17705                           CADR     RADSTALL                              
024244,003192: 25,3534           03536                           TC       LP2ALM                                
024245,003193: 25,3535           13547                           TCF      GOPINNER                              
024246,003194: 
024247,003195: 25,3536           05567        LP2ALM             TC       ALARM                                 
024248,003196: 25,3537           00523                           OCT      523                                   
024249,003197: 25,3540           13547                           TCF      GOPINNER                              
024250,003198: 
024251,003199: 25,3541           35016        V59GP63            CA       EBANK7                                
024252,003200: 25,3542           54003                           TS       EBANK                                 
024253,003201: 25,3543  E7,1427                                  EBANK=   RPCRTIME                              
024254,003202: 25,3543           34733                           CA       POSMAX                                
024255,003203: 25,3544           55427                           TS       RPCRTIME                              
024256,003204: 25,3545           44736                           CS       BIT14                                 
024257,003205: 25,3546           55430                           TS       RPCRTQSW                              
024258,003206: 25,3547           04635        GOPINNER           TC       POSTJUMP                              
024259,003207: 25,3550           21051                           CADR     PINBRNCH                              
024260,003208: 

Page 569

024262,003210:                                                                                                  #  SEQUENCES TO TERMINATE RR OPERATIONS.
024263,003211: 
024264,003212: 25,3551           34745        ENDRADAR           CAF      RCDUFBIT                              #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
024265,003213: 25,3552           70110                           MASK     RADMODES                              
024266,003214: 25,3553           10000                           CCS      A                                     
024267,003215: 25,3554           13560                           TCF      RGOODEND                              
024268,003216: 25,3555           13565                           TCF      RDBADEND                              
024269,003217: 25,3556           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024270,003218: 25,3557           54332                           TS       RUPTAGN                               
024271,003219: 
024272,003220: 25,3560           34752        RGOODEND           CAF      TWO                                   
024273,003221: 25,3561           04635                           TC       POSTJUMP                              
024274,003222: 25,3562           17656                           CADR     GOODEND                               
024275,003223: 
024276,003224: 25,3563           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
024277,003225: 25,3564           54332                           TS       RUPTAGN                               
024278,003226: 25,3565           34752        RDBADEND           CAF      TWO                                   
024279,003227: 25,3566           04635                           TC       POSTJUMP                              
024280,003228: 25,3567           17653                           CADR     BADEND                                
024281,003229: 
024282,003230: 25,3570     6250               BIN3               EQUALS   THREE                                 
024283,003231: 

Page 570

024285,003233:                                                                                                  #  PROGRAM NAME_  LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024286,003234:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024287,003235: 
024288,003236:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024289,003237:                                                                                                  #        1)      EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024290,003238:                                                                                                  #        2)      COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024291,003239:                                                                                                  #        3)      COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024292,003240: 
024293,003241:                                                                                                  #  CALLING SEQUENCE      CALL
024294,003242:                                                                                                  #                                LPS20.1
024295,003243: 
024296,003244:                                                                                                  #  SUBROUTINES CALLED_
024297,003245:                                                                                                  #        LEMPREC, CSMPREC
024298,003246: 
024299,003247:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER + 2
024300,003248: 
024301,003249:                                                                                                  #  ERROR EXITS_  NONE
024302,003250: 
024303,003251:                                                                                                  #  ALARMS_  NONE
024304,003252: 
024305,003253:                                                                                                  #  OUTPUT_
024306,003254:                                                                                                  #        LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024307,003255:                                                                                                  #        MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024308,003256:                                                                                                  #        RRNBSW CLEARED
024309,003257: 
024310,003258:                                                                                                  #  INITIALIZED ERASEABLE
024311,003259:                                                                                                  #        TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024312,003260:                                                                                                  #        SEE ORBITAL INTEGRATION ROUTINE
024313,003261: 
024314,003262:                                                                                                  #  DEBRIS_
024315,003263:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024316,003264: 
024317,003265: 23,2337                                           BANK     23                                    
024318,003266: 24,2000                                           SETLOC   P20S                                  
024319,003267: 24,2000                                           BANK                                           

Page 571

024321,003269: 24,3256                                           COUNT*   $$/LPS20                              
024322,003270: 
024323,003271: 24,3256           43020        LPS20.1            STQ      BOFF                                  
024324,003272: 24,3257           01757                                    LS21X                                 
024325,003273: 24,3260           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
024326,003274: 24,3261           51265                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
024327,003275: 24,3262           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
024328,003276: 24,3263           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
024329,003277: 24,3264           51275                                    CSMINT                                
024330,003278: 24,3265           77624        LMINT              CALL                                           
024331,003279: 24,3266           27077                                    LEMCONIC                              #  EXTRAPOLATE LEM
024332,003280: 24,3267           77775                           VLOAD                                          
024333,003281: 24,3270           00001                                    RATT                                  
024334,003282: 24,3271           26352                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
024335,003283: 24,3272           00007                                    VATT                                  
024336,003284: 24,3273           16360                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
024337,003285: 24,3274           00015                                    TAT                                   
024338,003286: 24,3275           34041        CSMINT             STCALL   TDEC1                                 
024339,003287: 24,3276           27065                                    CSMCONIC                              #  EXTRAPOLATE CSM
024340,003288: 24,3277           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024341,003289: 24,3300           00007                                    VATT                                  
024342,003290: 24,3301           02360                                    LMVEL                                 
024343,003291: 24,3302           76521                           MXV      VSL1                                  
024344,003292: 24,3303           01734                                    REFSMMAT                              
024345,003293: 24,3304           77776                           EXIT                                           
024346,003294: 24,3305           06032                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
024347,003295: 24,3306           52613                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
024348,003296: 24,3307           06042                           TC       INTPRET                               
024349,003297: 24,3310           25761                           STOVL    LOSVEL                                
024350,003298: 24,3311           00001                                    RATT                                  
024351,003299: 24,3312           43051                           VSU      BOFF                                  
024352,003300: 24,3313           02352                                    LMPOS                                 
024353,003301: 24,3314           00350                                    RNDVZFLG                              
024354,003302: 24,3315           51322                                    NOTSHIFT                              
024355,003303: 24,3316           77604                           BOVB                                           
024356,003304: 24,3317           57754                                    TCDANZIG                              
024357,003305: 24,3320           77661                           VSL                                            
024358,003306: 24,3321           20212                                    9D                                    
024359,003307: 24,3322           41056        NOTSHIFT           UNIT     BOVB                                  #  IF OVERFLOW, RANGE MUST BE GREATER
024360,003308: 24,3323           50102                                    526ALARM                              #  THAN 400 N. M.
024361,003309: 24,3324           76521                           MXV      VSL1                                  
024362,003310: 24,3325           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
024363,003311: 24,3326           15101                           STODL    RRTARGET                              
024364,003312: 24,3327           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
024365,003313: 24,3330           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
024366,003314: 24,3331           77614                           CLRGO                                          
024367,003315: 24,3332           00231                                    RRNBSW                                
024368,003316: 24,3333           01757                                    LS21X                                 
024369,003317: 

Page 572

024371,003319:                                                                                                  #  PROGRAM NAME_  LPS20.2  400 NM RANGE CHECK
024372,003320:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024373,003321: 
024374,003322:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024375,003323:                                                                                                  #        COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024376,003324: 
024377,003325:                                                                                                  #  CALLING SEQUENCE      CALL
024378,003326:                                                                                                  #                                LPS20.2
024379,003327: 
024380,003328:                                                                                                  #  SUBROUTINES CALLED_  NONE
024381,003329: 
024382,003330:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024383,003331: 
024384,003332:                                                                                                  #  ERROR EXITS_  RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024385,003333: 
024386,003334:                                                                                                  #  ALARMS_  NONE
024387,003335: 
024388,003336:                                                                                                  #  OUTPUT_  NONE
024389,003337: 
024390,003338:                                                                                                  #  INITIALIZED ERASEABLE_
024391,003339:                                                                                                  #        PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024392,003340: 
024393,003341:                                                                                                  #  DEBRIS
024394,003342:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024395,003343: 
024396,003344: 25,2000                                           SETLOC   P20S1                                 
024397,003345: 25,2000                                           BANK                                           
024398,003346: 25,3570                                           COUNT*   $$/LPS20                              
024399,003347: 
024400,003348: 25,3570           45345        LPS20.2            DLOAD    DSU                                   
024401,003349: 25,3571           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
024402,003350: 25,3572           13603                                    FHNM                                  #  OVER 400NM  _
024403,003351: 25,3573           77644                           BPL                                            
024404,003352: 25,3574           53577                                    TOFAR                                 
024405,003353: 25,3575           43535                           SLOAD    RVQ                                   
024406,003354: 25,3576           06524                                    ZERO/SP                               
024407,003355: 25,3577           43535        TOFAR              SLOAD    RVQ                                   
024408,003356: 25,3600           13602                                    ONE/SP                                
024409,003357: 25,3601           00001        ONE/SP             DEC      1          B-14                       

Page 573

024411,003359: 25,3602           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
024412,003360: 

Page 574

024414,003362:                                                                                                  #  PROGRAM NAME:  LRS22.1 (DATA READ SUBROUTINE 1)
024415,003363:                                                                                                  #  MOD. NO.: 1           BY: P. VOLANTE  SDC             DATE:  11-15-66
024416,003364: 
024417,003365:                                                                                                  #  FUNCTIONAL DESCRIPTION
024418,003366:                                                                                                  #        1)      READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME.  CONVERTS THIS
024419,003367:                                                                                                  #                DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3).  CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024420,003368:                                                                                                  #                RR REPOSITION AND RR CDU FAIL
024421,003369:                                                                                                  #        2)      COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024422,003370: 
024423,003371:                                                                                                  #  CALLING SEQUENCE:  BANKCALL FOR LRS22.1
024424,003372: 
024425,003373:                                                                                                  #  SUBROUTINES CALLED:
024426,003374:                                                                                                  #        RRRDOT          LPS20.1
024427,003375:                                                                                                  #        RRRANGE         BANKCALL
024428,003376:                                                                                                  #        RADSTALL        CDULOGIC
024429,003377:                                                                                                  #        RRNB            SMNB
024430,003378: 
024431,003379:                                                                                                  #  NORMAL EXIT:  RETURN TO CALLER+1 WITH MPAC SET TO +0
024432,003380: 
024433,003381:                                                                                                  #  ERROR EXITS:  RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024434,003382:                                                                                                  #        00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024435,003383:                                                                                                  #        00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024436,003384: 
024437,003385:                                                                                                  #  ALARMS:  521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024438,003386:                                                                                                  #        (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024439,003387: 
024440,003388:                                                                                                  #  OUTPUT:  RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024441,003389:                                                                                                  #        RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024442,003390: 
024443,003391:                                                                                                  #        ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024444,003392:                                                                                                  #                RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024445,003393:                                                                                                  #                RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024446,003394:                                                                                                  #                RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024447,003395:                                                                                                  #                AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024448,003396:                                                                                                  #                MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024449,003397: 
024450,003398:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024451,003399:                                                                                                  #        RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:

Page 575

024453,003401:                                                                                                  #                1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024454,003402:                                                                                                  #                2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024455,003403:                                                                                                  #        THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024456,003404: 
024457,003405:                                                                                                  #  DEBRIS:  LRS22.1X, A, L, Q, PUSHLIST
024458,003406: 
024459,003407: 32,2366                                           BANK     32                                    
024460,003408: 32,2000                                           SETLOC   LRS22                                 
024461,003409: 32,2000                                           BANK                                           
024462,003410: 32,2366                                           COUNT*   $$/LRS22                              
024463,003411: 
024464,003412: 32,2366           04645        LRS22.1            TC       MAKECADR                              
024465,003413: 32,2367           55737                           TS       LRS22.1X                              
024466,003414: 32,2370           05516                           TC       DOWNFLAG                              
024467,003415: 32,2371           00120                           ADRES    RNGSCFLG                              
024468,003416: 32,2372           00004                           INHINT                                         
024469,003417: 32,2373           34751                           CAF      BIT3                                  
024470,003418: 32,2374           00006                           EXTEND                                         #  GET RR RANGE SCALE
024471,003419: 32,2375           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
024472,003420: 32,2376           54001                           TS       L                                     
024473,003421: 32,2377           44751                           CS       RRRSBIT                               
024474,003422: 32,2400           70110                           MASK     RADMODES                              
024475,003423: 32,2401           60001                           AD       L                                     
024476,003424: 32,2402           54110                           TS       RADMODES                              
024477,003425: 32,2403           00003                           RELINT                                         
024478,003426: 32,2404           04616        READRDOT           TC       BANKCALL                              
024479,003427: 32,2405           53112                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
024480,003428: 32,2406           04616                           TC       BANKCALL                              
024481,003429: 32,2407           17705                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
024482,003430: 32,2410           12543                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
024483,003431: 
024484,003432: 32,2411           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
024485,003433: 32,2412           53105                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
024486,003434: 32,2413           52162                           DXCH     MPAC       +5                         #  TEMP BUFFER FOR DOWNLINK
024487,003435: 32,2414           53101                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
024488,003436: 32,2415           53747                           DXCH     RDOTMSAV                              
024489,003437: 32,2416           00006                           EXTEND                                         
024490,003438: 32,2417           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
024491,003439: 32,2420           52160                           DXCH     MPAC       +3                         #  TEMP BUFFER FOR DOWNLINK
024492,003440: 32,2421           30032                           CA       CDUX                                  
024493,003441: 32,2422           54156                           TS       MPAC       +2                         #  TEMP BUFFER FOR DOWNLINK
024494,003442: 32,2423           00006                           EXTEND                                         
024495,003443: 32,2424           30025                           DCA      TIME2                                 #  SAVE TIME
024496,003444: 32,2425           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
024497,003445: 32,2426           00006                           EXTEND                                         
024498,003446: 32,2427           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024499,003447: 32,2430           53107                           DXCH     TANG                                  

Page 576

024501,003449: 32,2431           00003                           RELINT                                         
024502,003450: 32,2432           04616                           TC       BANKCALL                              
024503,003451: 32,2433           53114                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
024504,003452: 32,2434           04616                           TC       BANKCALL                              
024505,003453: 32,2435           17705                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
024506,003454: 32,2436           02537                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
024507,003455: 32,2437           00004                           INHINT                                         #  COPY CYCLE FOR MARK DATA ON DOWNLINK
024508,003456: 32,2440           00006                           EXTEND                                         
024509,003457: 32,2441           31331                           DCA      DNRRANGE                              #  RANGE, RANGE RATE (RAW DATA)
024510,003458: 32,2442           53761                           DXCH     RANGRDOT                              
024511,003459: 32,2443           52162                           DXCH     MPAC       +5                         
024512,003460: 32,2444           53755                           DXCH     MKTIME                                #  MARK TIME
024513,003461: 32,2445           52160                           DXCH     MPAC       +3                         
024514,003462: 32,2446           53460                           DXCH     AIG                                   #  CDUY, CDUZ
024515,003463: 32,2447           00006                           EXTEND                                         
024516,003464: 32,2450           31107                           DCA      TANG                                  #  PRESERVE TANG
024517,003465: 32,2451           53753                           DXCH     TANGNB                                #  TRUNNION AND SHAFT ANGLES
024518,003466: 32,2452           30156                           CA       MPAC       +2                         
024519,003467: 32,2453           55461                           TS       AOG                                   #  CDUX
024520,003468: 32,2454           06042                           TC       INTPRET                               
024521,003469: 32,2455           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
024522,003470: 32,2456           03747                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
024523,003471: 32,2457           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
024524,003472: 32,2460           20217                                    14D                                   #  FT./SECOND PER BIT
024525,003473: 32,2461           24002                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
024526,003474: 32,2462           03751                           STORE    RDOTM                                 
024527,003475: 32,2463           47135                           SLOAD    RTB                                   
024528,003476: 32,2464           01107                                    TANG                                  #  GET TRUNION ANGLE
024529,003477: 32,2465           21577                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
024530,003478: 32,2466           03734                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
024531,003479: 32,2467           47135                           SLOAD    RTB                                   
024532,003480: 32,2470           01110                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
024533,003481: 32,2471           21577                                    CDULOGIC                              
024534,003482: 32,2472           17736                           STODL    RRSHAFT                               
024535,003483: 32,2473           01101                                    SAMPLSUM                              
024536,003484: 32,2474           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
024537,003485: 32,2475           24004                                    RANGCONV                              #  PER BIT, END WITH METERS, SCALED -29
024538,003486: 32,2476           37757                           STCALL   RM                                    
024539,003487: 32,2477           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
024540,003488: 32,2500           17741                           STODL    RRBORSIT                              #  AND SAVE
024541,003489: 32,2501           00025                                    20D                                   
024542,003490: 32,2502           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
024543,003491: 32,2503           51256                                    LPS20.1                               
024544,003492: 32,2504           77776                           EXIT                                           
024545,003493: 32,2505           31457                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
024546,003494: 32,2506           54765                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
024547,003495: 32,2507           31460                           CA       AMG                                   
024548,003496: 32,2510           54767                           TS       CDUSPOT    +2                         
024549,003497: 32,2511           31461                           CA       AOG                                   
024550,003498: 32,2512           54771                           TS       CDUSPOT    +4                         

Page 577

024552,003500: 32,2513           06042                           TC       INTPRET                               
024553,003501: 32,2514           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
024554,003502: 32,2515           01101                                    RRTARGET                              
024555,003503: 32,2516           47653                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
024556,003504: 32,2517           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
024557,003505: 32,2520           03741                                    RRBORSIT                              
024558,003506: 32,2521           65552                           SL1      ACOS                                  #  BETWEEN THEM
024559,003507: 32,2522           01045                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
024560,003508: 32,2523           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
024561,003509: 32,2524           24547                                    THREEDEG                              
024562,003510: 32,2525           64532                                    NORMEXIT                              #  YES - NORMAL EXIT
024563,003511: 
024564,003512: 32,2526           77776                           EXIT                                           #  ERROR EXIT 2
024565,003513: 32,2527           34752                           CAF      BIT2                                  #  SET ERROR CODE
024566,003514: 32,2530           54154                           TS       MPAC                                  
024567,003515: 32,2531           12535                           TCF      OUT22.1                               
024568,003516: 
024569,003517: 32,2532           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT - SET MPAC EQUAL ZERO
024570,003518: 32,2533           34755                           CAF      ZERO                                  
024571,003519: 32,2534           54154                           TS       MPAC                                  
024572,003520: 32,2535           31737        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
024573,003521: 32,2536           04640                           TC       BANKJUMP                              
024574,003522: 32,2537           30101        CHEXERR            CAE      FLAGWRD5                              
024575,003523: 32,2540           74742                           MASK     RNGSCBIT                              
024576,003524: 32,2541           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
024577,003525: 32,2542           12404                           TCF      READRDOT                              #  YES - TAKE ANOTHER READING
024578,003526: 
024579,003527: 32,2543           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
024580,003528: 32,2544           54154                           TS       MPAC                                  
024581,003529: 32,2545           02535                           TC       OUT22.1                               
024582,003530: 32,2546           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES, SCALED REVS, B0
024583,003531: 
024584,003532: 32,2550     1100               RRLOSVEC           EQUALS   RRTARGET                              
024585,003533: 

Page 578

024587,003535:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024588,003536:                                                                                                  #  MOD. NO.: 1           BY: P VOLANTE  SDC              DATE   4-11-67
024589,003537: 
024590,003538:                                                                                                  #  FUNCTIONAL DESCRIPTION-
024591,003539:                                                                                                  #        2)  CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024592,003540: 
024593,003541:                                                                                                  #  CALLING SEQUENCE -  BANKCALL FOR LRS22.2
024594,003542: 
024595,003543:                                                                                                  #  SUBROUTINES CALLED:  G+N, AUTO   SETMAXDB
024596,003544: 
024597,003545:                                                                                                  #  NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024598,003546: 
024599,003547:                                                                                                  #  ERROR EXIT -  RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024600,003548: 
024601,003549:                                                                                                  #  ALARMS - NONE                                                 IN THE AUTO MODE
024602,003550: 
024603,003551:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
024604,003552:                                                                                                  #        RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024605,003553:                                                                                                  #        RM - RR RANGE, METERS B-29, FROM LRS22.1
024606,003554:                                                                                                  #        BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024607,003555: 
024608,003556:                                                                                                  #  DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024609,003557: 
024610,003558: 24,2000                                           SETLOC   P20S                                  
024611,003559: 24,2000                                           BANK                                           
024612,003560: 24,3334           04645        LRS22.2            TC       MAKECADR                              
024613,003561: 24,3335           55737                           TS       LRS22.1X                              
024614,003562: 24,3336           06042                           TC       INTPRET                               
024615,003563:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF 
024616,003564: 24,3337           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
024617,003565: 24,3340           03745                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
024618,003566:                                                                                                  #  LOS VECTOR, A HALF UNIT VECTOR
024619,003567:                                                                                                  #  IN NAV BASE AXES)
024620,003568: 24,3341           50025                           DSU      BMN                                   
024621,003569: 24,3342           11356                                    30DEG                                 
024622,003570: 24,3343           51350                                    OKEXIT                                #  NORMAL EXIT - WITHIN 30 DEG.
024623,003571: 24,3344           77776                           EXIT                                           #  ERROR EXIT - NOT WITHIN 30 DEG.
024624,003572: 24,3345           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
024625,003573: 24,3346           54154                           TS       MPAC                                  
024626,003574: 24,3347           13353                           TCF      OUT22.2                               
024627,003575: 24,3350           77776        OKEXIT             EXIT                                           #  NORMAL EXIT - SET MPAC = ZERO
024628,003576: 

Page 579

024630,003578: 24,3351           34755                           CAF      ZERO                                  
024631,003579: 24,3352           54154                           TS       MPAC                                  
024632,003580: 24,3353           31737        OUT22.2            CAE      LRS22.1X                              
024633,003581: 24,3354           04640                           TC       BANKJUMP                              
024634,003582: 
024635,003583: 24,3355           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES, SCALED REVS, B0
024636,003584: 

Page 580

024638,003586:                                                                                                  #  PROGRAM NAME - LSR22.3                                DATE - 29 MAY 1967
024639,003587:                                                                                                  #  MOD. NO 3                                             LOG SECTION - P20-25
024640,003588:                                                                                                  #  MOD. BY - DANFORTH                                    ASSEMBLY LEMP20S REV 10
024641,003589: 
024642,003590:                                                                                                  #  FUNCTIONAL DESCRIPTION
024643,003591:                                                                                                  #        THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024644,003592:                                                                                                  #        RADAR.  (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES).  THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024645,003593:                                                                                                  #        WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024646,003594: 
024647,003595:                                                                                                  #  CALLING SEQUENCE
024648,003596:                                                                                                  #        THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY.  THE ROUTINE IS ENTERED FROM
024649,003597:                                                                                                  #        R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA.  IF THE
024650,003598:                                                                                                  #        COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED.  THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024651,003599:                                                                                                  #        THE DEVIATIONS.  IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024652,003600:                                                                                                  #        DEVIATIONS INTO THE STATE VECTOR.  IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024653,003601:                                                                                                  #        PROCESSED FOR THIS MARK, I.E.,  R22LEM GETS THE NEXT MARK.
024654,003602: 
024655,003603:                                                                                                  #  SUBROUTINES CALLED
024656,003604:                                                                                                  #        WLINIT          LGCUPDTE        INTEGRV         INCORP1         ARCTAN
024657,003605:                                                                                                  #        GETULC          RARARANG        INCORP2         NBSM            INTSTALL
024658,003606: 
024659,003607:                                                                                                  #  OUTPUT
024660,003608:                                                                                                  #        CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024661,003609:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR
024662,003610:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024663,003611:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024664,003612:                                                                                                  #        UPDATED W-MATRIX
024665,003613: 
024666,003614:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
024667,003615:                                                                                                  #        LM AND CSM STATE VECTORS
024668,003616:                                                                                                  #        W-MATRIX
024669,003617:                                                                                                  #        MARK TIME IN MKTIME
024670,003618:                                                                                                  #        RADAR RANGE IN RM METERS B-29
024671,003619:                                                                                                  #                RANGE RATE IN RDOTM METERS/CSES B-7
024672,003620:                                                                                                  #                SHAFT ANGLE IN RRSHAFT REVS. B0
024673,003621:                                                                                                  #                TRUNNION ANGLE IN RRTRUN REVS. B0
024674,003622:                                                                                                  #        GIMBAL ANGLES   INNER IN AIG
024675,003623:                                                                                                  #                        MIDDLE IN AMG
024676,003624:                                                                                                  #                        OUTER IN AOG
024677,003625:                                                                                                  #        REFSMMAT
024678,003626:                                                                                                  #        RENDWFLG
024679,003627:                                                                                                  #        NOANGFLG
024680,003628:                                                                                                  #        VEHUPFLG
024681,003629: 
024682,003630:                                                                                                  #  DEBRIS
024683,003631:                                                                                                  #        PUSHLIST -- ALL
024684,003632:                                                                                                  #        MX, MY, MZ (VECTORS)

Page 581

024686,003634:                                                                                                  #        ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024687,003635: 
024688,003636: 13,2207                                           BANK     13                                    
024689,003637: 26,2000                                           SETLOC   P20S3                                 
024690,003638: 26,2000                                           BANK                                           
024691,003639: 
024692,003640: 26,2416  E7,1456                                  EBANK=   LOSCOUNT                              
024693,003641: 26,2416                                           COUNT*   $$/LSR22                              
024694,003642: 26,2416           77624        LSR22.3            CALL                                           
024695,003643: 26,2417           11210                                    GRP2PC                                
024696,003644: 26,2420           43014                           BON      SET                                   
024697,003645: 26,2421           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
024698,003646: 26,2422           55200                                    LSR22.4                               #  YES
024699,003647: 26,2423           02466                                    DMENFLG                               
024700,003648: 26,2424           45014                           BOFF     CALL                                  
024701,003649: 26,2425           00747                                    VEHUPFLG                              
024702,003650: 26,2426           54460                                    DOLEM                                 
024703,003651: 26,2427           27410                                    INTSTALL                              
024704,003652: 26,2430           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
024705,003653: 26,2431           01674                                    VINTFLAG                              
024706,003654: 26,2432           26643                                    SETIFLGS                              
024707,003655: 26,2433           77624                           CALL                                           
024708,003656: 26,2434           55242                                    INTGRCAL                              
024709,003657: 26,2435           77624                           CALL                                           
024710,003658: 26,2436           11210                                    GRP2PC                                
024711,003659: 26,2437           77624                           CALL                                           
024712,003660: 26,2440           27410                                    INTSTALL                              
024713,003661: 26,2441           43014                           CLEAR    BOFF                                  
024714,003662: 26,2442           01676                                    DIM0FLAG                              
024715,003663: 26,2443           02756                                    RENDWFLG                              
024716,003664: 26,2444           54450                                    NOTWCSM                               
024717,003665: 26,2445           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
024718,003666: 26,2446           01476                                    DIM0FLAG                              
024719,003667: 26,2447           01475                                    D6OR9FLG                              
024720,003668: 26,2450           43014        NOTWCSM            SET      CLEAR                                 
024721,003669: 26,2451           01474                                    VINTFLAG                              
024722,003670: 26,2452           01673                                    INTYPFLG                              
024723,003671: 26,2453           45014                           SET      CALL                                  
024724,003672: 26,2454           01472                                    STATEFLG                              
024725,003673: 26,2455           55242                                    INTGRCAL                              
024726,003674: 26,2456           77650                           GOTO                                           
024727,003675: 26,2457           54510                                    MARKTEST                              
024728,003676: 26,2460           77624        DOLEM              CALL                                           
024729,003677: 26,2461           27410                                    INTSTALL                              
024730,003678: 26,2462           45014                           SET      CALL                                  
024731,003679: 26,2463           01474                                    VINTFLAG                              
024732,003680: 26,2464           26643                                    SETIFLGS                              
024733,003681: 26,2465           77624                           CALL                                           
024734,003682: 26,2466           55242                                    INTGRCAL                              

Page 582

024736,003684: 26,2467           77624                           CALL                                           
024737,003685: 26,2470           11210                                    GRP2PC                                
024738,003686: 26,2471           77624                           CALL                                           
024739,003687: 26,2472           27410                                    INTSTALL                              
024740,003688: 26,2473           43014                           CLEAR    BOFF                                  
024741,003689: 26,2474           01676                                    DIM0FLAG                              
024742,003690: 26,2475           02756                                    RENDWFLG                              
024743,003691: 26,2476           54502                                    NOTWLEM                               
024744,003692: 26,2477           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
024745,003693: 26,2500           01476                                    DIM0FLAG                              
024746,003694: 26,2501           01475                                    D6OR9FLG                              
024747,003695: 26,2502           43014        NOTWLEM            CLEAR    CLEAR                                 
024748,003696: 26,2503           01673                                    INTYPFLG                              
024749,003697: 26,2504           01674                                    VINTFLAG                              
024750,003698: 26,2505           45014                           SET      CALL                                  
024751,003699: 26,2506           01472                                    STATEFLG                              
024752,003700: 26,2507           55242                                    INTGRCAL                              
024753,003701: 26,2510           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
024754,003702: 26,2511           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
024755,003703: 26,2512           54514                                    RANGEBQ                               
024756,003704: 26,2513           55251                                    WLINIT                                #  YES - REINITIALIZE
024757,003705: 26,2514           77414        RANGEBQ            BON      EXIT                                  #  DON'T CALL R65 IF ON SURFACE
024758,003706: 26,2515           04307                                    SURFFLAG                              
024759,003707: 26,2516           54524                                    RANGEBQ1                              
024760,003708: 26,2517           34755                           CA       ZERO                                  
024761,003709: 26,2520           55745                           TS       R65CNTR                               
024762,003710: 26,2521           04616                           TC       BANKCALL                              
024763,003711: 26,2522           46123                           CADR     R65LEM                                
024764,003712: 26,2523           06042                           TC       INTPRET                               
024765,003713: 26,2524           43174        RANGEBQ1           AXT,2    BON                                   #  CLEAR X2
024766,003714: 26,2525           00000                                    0                                     
024767,003715: 26,2526           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
024768,003716: 26,2527           54532                                    SETX2                                 #  YES.  STORE ZERO IN SCALSHFT REGISTER
024769,003717: 26,2530           77714                           INCR,2                                         
024770,003718: 26,2531           00002                                    2                                     
024771,003719: 26,2532           45134        SETX2              SXA,2    CALL                                  
024772,003720: 26,2533           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
024773,003721: 26,2534           11210                                    GRP2PC                                
024774,003722: 26,2535           66170                           AXT,1    SXA,1                                 #  STORE RANGE CODE (1) FOR R3 IN NOUN 49
024775,003723: 26,2536           00001                                    1                                     
024776,003724: 26,2537           01356                                    WHCHREAD                              
024777,003725: 26,2540           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
024778,003726: 26,2541           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION (B-40)
024779,003727: 26,2542           20635                                    28D                                   
024780,003728: 26,2543           77634                           RTB                                            
024781,003729: 26,2544           21634                                    TPMODE                                #  AND SAVE IN 20D
024782,003730: 26,2545           00025                           STORE    20D                                   
024783,003731: 26,2546           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS, DELTAQ
024784,003732: 26,2547           55333                                    GETULC                                #  B-VECTORS FOR RANGE
024785,003733: 26,2550           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED

Page 583

024787,003735: 26,2551           00707                                    VEHUPFLG                              
024788,003736: 26,2552           54553                                    +1                                    
024789,003737: 26,2553           27525                           STOVL    BVECTOR                               
024790,003738: 26,2554           06524                                    ZEROVECS                              
024791,003739: 26,2555           03533                           STORE    BVECTOR    +6                         #  B1
024792,003740: 26,2556           17541                           STODL    BVECTOR    +12D                       #  B2
024793,003741: 26,2557           00045                                    36D                                   
024794,003742: 26,2560           44257                           SRR*     BDSU                                  
024795,003743: 26,2561           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
024796,003744: 26,2562           03757                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
024797,003745: 26,2563           77657                           SLR*                                           
024798,003746: 26,2564           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
024799,003747: 26,2565           17547                           STODL    DELTAQ                                #  EARTH B-29.  MOON B-27
024800,003748: 26,2566           00045                                    36D                                   #  RLC B-29/B-27
024801,003749: 26,2567           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
024802,003750: 26,2570           00047                                    X1                                    
024803,003751: 26,2571           53605                           DMP      SR*                                   
024804,003752: 26,2572           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR (B12) THEN
024805,003753: 26,2573           20577                                    0          -2,1                       #  UNNORMALIZE
024806,003754: 26,2574           53657                           SR*      SR*                                   
024807,003755: 26,2575           20601                                    0,1                                   
024808,003756: 26,2576           57176                                    0,2                                   
024809,003757: 26,2577           47057                           SR*      RTB                                   
024810,003758: 26,2600           57176                                    0,2                                   
024811,003759: 26,2601           21634                                    TPMODE                                
024812,003760: 26,2602           02707                           STORE    VARIANCE                              #  B-40
024813,003761: 26,2603           76276                           DCOMP    TAD                                   
024814,003762: 26,2604           00025                                    20D                                   #  B-40
024815,003763: 26,2605           72240                           BMN      TLOAD                                 
024816,003764: 26,2606           54611                                    QOK                                   
024817,003765: 26,2607           00025                                    20D                                   #  B-40
024818,003766: 26,2610           02707                           STORE    VARIANCE                              
024819,003767: 26,2611           77624        QOK                CALL                                           
024820,003768: 26,2612           55401                                    LGCUPDTE                              
024821,003769: 
024822,003770: 26,2613           45131                           SSP      CALL                                  
024823,003771: 26,2614           01357                                    WHCHREAD                              
024824,003772: 26,2615           00002                           DEC      2          B-14                       #  STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024825,003773: 26,2616           11210                                    GRP2PC                                
024826,003774: 26,2617           77624                           CALL                                           #  B-VECTOR, DELTAQ FOR RANGE RATE
024827,003775: 26,2620           55333                                    GETULC                                
024828,003776: 26,2621           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
024829,003777: 26,2622           00045                                    36D                                   #  AND SHIFT TO B-23
024830,003778: 26,2623           57202                                    0          -4,2                       
024831,003779: 26,2624           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
024832,003780: 26,2625           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
024833,003781: 26,2626           00707                                    VEHUPFLG                              
024834,003782: 26,2627           54630                                    +1                                    
024835,003783: 26,2630           77761                           VXSC                                           
024836,003784: 26,2631           00045                                    36D                                   #  B1 = RLC (B-24/B-22)

Page 584

024838,003786: 26,2632           27533                           STOVL    BVECTOR    +6                         
024839,003787: 26,2633           01653                                    NUVLEM                                
024840,003788: 26,2634           53257                           VSR*     VAD                                   
024841,003789: 26,2635           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024842,003790: 26,2636           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
024843,003791: 26,2637           53715                           PDVL     VSR*                                  #  VL TO PD6
024844,003792: 26,2640           01601                                    NUVCSM                                
024845,003793: 26,2641           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024846,003794: 26,2642           52255                           VAD      VSU                                   
024847,003795: 26,2643           01615                                    VCVCSM                                
024848,003796: 26,2644           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
024849,003797: 26,2645           00001                                    0                                     
024850,003798: 26,2646           00007                                    6                                     
024851,003799: 26,2647           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
024852,003800: 26,2650           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
024853,003801: 26,2651           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
024854,003802: 26,2652           01773                                    RATEVAR                               
024855,003803: 26,2653           02707                           STORE    VARIANCE                              
024856,003804: 26,2654           54335                           SLOAD    SR                                    
024857,003805: 26,2655           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
024858,003806: 26,2656           20621                                    16D                                   #  SHIFT TO DP (B-4)
024859,003807: 26,2657           00031                           STORE    24D                                   #  AND SAVE IN 24D
024860,003808: 26,2660           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
024861,003809: 26,2661           02707                                    VARIANCE                              
024862,003810: 26,2662           54666                                    VOK                                   #  BRANCH - NO
024863,003811: 26,2663           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
024864,003812: 26,2664           00031                                    24D                                   
024865,003813: 26,2665           02707                           STORE    VARIANCE                              
024866,003814: 26,2666           60545        VOK                DLOAD    SR2                                   #  RDOT (PD12) FROM B-8/B-6
024867,003815: 26,2667           53725                           PDDL     SLR*                                  #  TO B-10/B-8
024868,003816: 26,2670           03751                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
024869,003817: 26,2671           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
024870,003818: 26,2672           77625                           DSU                                            
024871,003819: 26,2673           77675                           DMPR                                           
024872,003820: 26,2674           00045                                    36D                                   
024873,003821: 26,2675           27547                           STOVL    DELTAQ                                #  B-33
024874,003822: 26,2676           00001                                    0                                     #  NOW GET B0
024875,003823: 26,2677           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
024876,003824: 26,2700           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
024877,003825: 26,2701           00707                                    VEHUPFLG                              
024878,003826: 26,2702           54703                                    +1                                    
024879,003827: 26,2703           77657                           VSR*                                           
024880,003828: 26,2704           57200                                    0          -2,2                       #  SCALED B-5
024881,003829: 26,2705           27525                           STOVL    BVECTOR                               
024882,003830: 26,2706           06524                                    ZEROVECS                              
024883,003831: 26,2707           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
024884,003832: 26,2710           27541                           STOVL    BVECTOR    +12D                       
024885,003833: 26,2711           03525                                    BVECTOR                               
024886,003834: 26,2712           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
024887,003835: 26,2713           00025                                    20D                                   #  SHIFT COUNT IN 20D

Page 585

024889,003837: 26,2714           51575                           VLOAD    ABVAL                                 
024890,003838: 26,2715           03533                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
024891,003839: 26,2716           71301                           NORM     DLOAD                                 
024892,003840: 26,2717           00027                                    22D                                   #  SHIFT COUNT IN 22D
024893,003841: 26,2720           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
024894,003842: 26,2721           50025                           DSU      BMN                                   #  BRANCH - B0 HAS SMALLER SHIFT COUNT
024895,003843: 26,2722           00025                                    20D                                   
024896,003844: 26,2723           54727                                    VOK1                                  
024897,003845: 26,2724           52150                           LXA,1    GOTO                                  
024898,003846: 26,2725           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
024899,003847: 26,2726           54731                                    VOK2                                  
024900,003848: 26,2727           77750        VOK1               LXA,1                                          
024901,003849: 26,2730           00024                                    20D                                   
024902,003850: 26,2731           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024903,003851: 26,2732           03525                                    BVECTOR                               #  WITH THI SSHIFT COUNT
024904,003852: 26,2733           20201                                    0,1                                   
024905,003853: 26,2734           27525                           STOVL    BVECTOR                               
024906,003854: 26,2735           03533                                    BVECTOR    +6                         
024907,003855: 26,2736           77657                           VSL*                                           
024908,003856: 26,2737           20201                                    0,1                                   
024909,003857: 26,2740           17533                           STODL    BVECTOR    +6                         
024910,003858: 26,2741           03547                                    DELTAQ                                
024911,003859: 26,2742           77657                           SL*                                            
024912,003860: 26,2743           20201                                    0,1                                   
024913,003861: 26,2744           03547                           STORE    DELTAQ                                
024914,003862: 26,2745           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
024915,003863: 26,2746           00045                                    36D                                   
024916,003864: 26,2747           20200                                    0          -1,1                       
024917,003865: 26,2750           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
024918,003866: 26,2751           02707                                    VARIANCE                              
024919,003867: 26,2752           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024920,003868: 26,2753           21634                                    TPMODE                                
024921,003869: 26,2754           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
024922,003870: 26,2755           55401                                    LGCUPDTE                              
024923,003871: 
024924,003872: 26,2756           77624                           CALL                                           
024925,003873: 26,2757           11210                                    GRP2PC                                
024926,003874: 26,2760           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
024927,003875: 26,2761           04307                                    SURFFLAG                              
024928,003876: 26,2762           55176                                    RENDEND                               #  NO
024929,003877: 26,2763  E7,1457                                  EBANK=   AIG                                   
024930,003878: 26,2763           33332        MXMYMZ             CAF      AIGBANK                               
024931,003879: 26,2764           54006                           TS       BBANK                                 
024932,003880: 26,2765           31457                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
024933,003881: 26,2766           54765                           TS       CDUSPOT                               
024934,003882: 26,2767           31460                           CA       AMG                                   
024935,003883: 26,2770           54767                           TS       CDUSPOT    +2                         
024936,003884: 26,2771           31461                           CA       AOG                                   
024937,003885: 26,2772           54771                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024938,003886: 26,2773           06042                           TC       INTPRET                               

Page 586

024940,003888: 26,2774           45175                           VLOAD    CALL                                  
024941,003889: 26,2775           06522                                    UNITX                                 
024942,003890: 26,2776           47666                                    TRG*NBSM                              
024943,003891: 26,2777           76505                           VXM      VSL1                                  
024944,003892: 26,3000           01734                                    REFSMMAT                              
024945,003893: 26,3001           27677                           STOVL    MX                                    
024946,003894: 26,3002           06520                                    UNITY                                 
024947,003895: 26,3003           77624                           CALL                                           
024948,003896: 26,3004           47675                                    *NBSM*                                
024949,003897: 26,3005           76505                           VXM      VSL1                                  
024950,003898: 26,3006           01734                                    REFSMMAT                              
024951,003899: 26,3007           27705                           STOVL    MY                                    
024952,003900: 26,3010           06516                                    UNITZ                                 
024953,003901: 26,3011           77624                           CALL                                           
024954,003902: 26,3012           47675                                    *NBSM*                                
024955,003903: 26,3013           76505                           VXM      VSL1                                  
024956,003904: 26,3014           01734                                    REFSMMAT                              
024957,003905: 26,3015           37713        SHAFTBQ            STCALL   MZ                                    
024958,003906: 26,3016           55361                                    RADARANG                              
024959,003907: 26,3017           77331                           SSP      VLOAD                                 #  STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024960,003908: 26,3020           01357                                    WHCHREAD                              
024961,003909: 26,3021           00003                           DEC      3          B-14                       
024962,003910: 26,3022           03724                                    ULC                                   
024963,003911: 26,3023           72441                           DOT      SL1                                   
024964,003912: 26,3024           03677                                    MX                                    
024965,003913: 26,3025           24023                           STOVL    SINTH                                 #  18D
024966,003914: 26,3026           03724                                    ULC                                   
024967,003915: 26,3027           72441                           DOT      SL1                                   
024968,003916: 26,3030           03713                                    MZ                                    
024969,003917: 26,3031           34021                           STCALL   COSTH                                 #  16D
024970,003918: 26,3032           26506                                    ARCTAN                                
024971,003919: 26,3033           41221                           BDSU     DMP                                   
024972,003920: 26,3034           03736                                    RRSHAFT                               
024973,003921: 26,3035           15441                                    2PI/8                                 
024974,003922: 26,3036           41472                           SL3R     PUSH                                  
024975,003923: 26,3037           52545                           DLOAD    SL3                                   
024976,003924: 26,3040           01701                                    X789                                  
024977,003925: 26,3041           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
024978,003926: 26,3042           56176                                    0,2                                   
024979,003927: 26,3043           53605                           DMP      SRR*                                  
024980,003928: 26,3044           03722                                    RXZ                                   
024981,003929: 26,3045           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
024982,003930: 26,3046           27547                           STOVL    DELTAQ                                #  EARTH B-29.  MOON B-27
024983,003931: 26,3047           03724                                    ULC                                   
024984,003932: 26,3050           76435                           VXV      VSL1                                  
024985,003933: 26,3051           03705                                    MY                                    
024986,003934: 26,3052           77656                           UNIT                                           
024987,003935: 26,3053           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
024988,003936: 26,3054           00747                                    VEHUPFLG                              
024989,003937: 26,3055           55056                                    +1                                    

Page 587

024991,003939: 26,3056           27525                           STOVL    BVECTOR                               
024992,003940: 26,3057           06524                                    ZEROVECS                              
024993,003941: 26,3060           03533                           STORE    BVECTOR    +6                         
024994,003942: 26,3061           17541                           STODL    BVECTOR    +12D                       
024995,003943: 26,3062           03722                                    RXZ                                   
024996,003944: 26,3063           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
024997,003945: 26,3064           20577                                    0          -2,1                       
024998,003946: 26,3065           56176                                    0,2                                   
024999,003947: 26,3066           03541                           STORE    BVECTOR    +12D                       
025000,003948: 26,3067           77735                           SLOAD                                          
025001,003949: 26,3070           02011                                    SHAFTVAR                              
025002,003950: 26,3071           41215                           DAD      DMP                                   
025003,003951: 26,3072           15436                                    IMUVAR                                #  RAD**2 B12
025004,003952: 26,3073           03722                                    RXZ                                   
025005,003953: 26,3074           41257                           SRR*     DMP                                   
025006,003954: 26,3075           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025007,003955: 26,3076           03722                                    RXZ                                   
025008,003956: 26,3077           53657                           SR*      SR*                                   
025009,003957: 26,3100           20577                                    0          -2,1                       
025010,003958: 26,3101           57176                                    0,2                                   
025011,003959: 26,3102           47057                           SR*      RTB                                   
025012,003960: 26,3103           57176                                    0,2                                   
025013,003961: 26,3104           21634                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025014,003962: 26,3105           36707                           STCALL   VARIANCE                              #  B-40
025015,003963: 26,3106           55401                                    LGCUPDTE                              
025016,003964: 
025017,003965: 26,3107           77624                           CALL                                           
025018,003966: 26,3110           11210                                    GRP2PC                                
025019,003967: 26,3111           77624        TRUNBQ             CALL                                           
025020,003968: 26,3112           55361                                    RADARANG                              
025021,003969: 26,3113           77331                           SSP      VLOAD                                 #  STORE TRUNNION CODE (4) FOR R3 IN N49
025022,003970: 26,3114           01357                                    WHCHREAD                              
025023,003971: 26,3115           00004                           DEC      4          B-14                       
025024,003972: 26,3116           03724                                    ULC                                   
025025,003973: 26,3117           76435                           VXV      VSL1                                  
025026,003974: 26,3120           03705                                    MY                                    
025027,003975: 26,3121           76435                           VXV      VSL1                                  #  (ULC X MY) X ULC
025028,003976: 26,3122           03724                                    ULC                                   
025029,003977: 26,3123           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025030,003978: 26,3124           00747                                    VEHUPFLG                              
025031,003979: 26,3125           55126                                    +1                                    
025032,003980: 26,3126           27525                           STOVL    BVECTOR                               
025033,003981: 26,3127           06524                                    ZEROVECS                              
025034,003982: 26,3130           03533                           STORE    BVECTOR    +6                         
025035,003983: 26,3131           17541                           STODL    BVECTOR    +12D                       
025036,003984: 26,3132           03722                                    RXZ                                   
025037,003985: 26,3133           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025038,003986: 26,3134           20577                                    0          -2,1                       
025039,003987: 26,3135           56176                                    0,2                                   
025040,003988: 26,3136           03543                           STORE    BVECTOR    +14D                       

Page 588

025042,003990: 26,3137           77735                           SLOAD                                          
025043,003991: 26,3140           02012                                    TRUNVAR                               
025044,003992: 26,3141           41215                           DAD      DMP                                   
025045,003993: 26,3142           15436                                    IMUVAR                                
025046,003994: 26,3143           03722                                    RXZ                                   
025047,003995: 26,3144           41257                           SRR*     DMP                                   
025048,003996: 26,3145           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025049,003997: 26,3146           03722                                    RXZ                                   
025050,003998: 26,3147           53657                           SR*      SR*                                   
025051,003999: 26,3150           20577                                    0          -2,1                       
025052,004000: 26,3151           57176                                    0,2                                   
025053,004001: 26,3152           47057                           SR*      RTB                                   
025054,004002: 26,3153           57176                                    0,2                                   
025055,004003: 26,3154           21634                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025056,004004: 26,3155           16707                           STODL    VARIANCE                              
025057,004005: 26,3156           03732                                    SINTHETA                              
025058,004006: 26,3157           44336                           ASIN     BDSU                                  #  SIN THETA IN PD6
025059,004007: 26,3160           03734                                    RRTRUN                                
025060,004008: 26,3161           56405                           DMP      SL3R                                  
025061,004009: 26,3162           15441                                    2PI/8                                 
025062,004010: 26,3163           52525                           PDDL     SL3                                   
025063,004011: 26,3164           01703                                    X789       +2                         
025064,004012: 26,3165           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025065,004013: 26,3166           56176                                    0,2                                   
025066,004014: 26,3167           53605                           DMP      SRR*                                  
025067,004015: 26,3170           03722                                    RXZ                                   
025068,004016: 26,3171           21601                                    0,1                                   
025069,004017: 26,3172           37547                           STCALL   DELTAQ                                #  EARTH B-29.  MOON B-27
025070,004018: 26,3173           55401                                    LGCUPDTE                              
025071,004019: 26,3174           77624                           CALL                                           
025072,004020: 26,3175           11210                                    GRP2PC                                
025073,004021: 26,3176           77650        RENDEND            GOTO                                           
025074,004022: 26,3177           50562                                    R22LEM93                              
025075,004023: 
025076,004024:                                                                                                  #  FUNCTIONAL DESCRIPTION
025077,004025:                                                                                                  #        LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025078,004026:                                                                                                  #        COMPUTER ONLY.  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025079,004027:                                                                                                  #        AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025080,004028: 
025081,004029:                                                                                                  #  SUBROUTINES CALLED
025082,004030:                                                                                                  #        INSTALL         LGCUPDTE        INCORP1         RP-TO-R
025083,004031:                                                                                                  #        INTEGRV         GETULC          INCORP2
025084,004032: 
025085,004033:                                                                                                  #  OUTPUT
025086,004034:                                                                                                  #        CORRECTED CSM STATE VECTOR (PERMANENT)
025087,004035:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR
025088,004036:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025089,004037:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025090,004038:                                                                                                  #        UPDATED W-MATRIX

Page 589

025092,004040: 
025093,004041:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025094,004042:                                                                                                  #        LM AND CSM STATE VECTORS
025095,004043:                                                                                                  #        W-MATRIX
025096,004044:                                                                                                  #        MARK TIME IN MKTIME
025097,004045:                                                                                                  #        RADAR RANGE IN RM METERS B-29
025098,004046:                                                                                                  #        RANGE RATE IN RDOTM METERS/CSEC B-7
025099,004047:                                                                                                  #        VEHUPFLG
025100,004048: 
025101,004049: 26,3200           77624        LSR22.4            CALL                                           
025102,004050: 26,3201           27410                                    INTSTALL                              
025103,004051: 26,3202           43014                           SET      CLEAR                                 
025104,004052: 26,3203           01472                                    STATEFLG                              
025105,004053: 26,3204           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
025106,004054: 26,3205           77624                           CALL                                           
025107,004055: 26,3206           55242                                    INTGRCAL                              
025108,004056: 26,3207           77624                           CALL                                           
025109,004057: 26,3210           11210                                    GRP2PC                                
025110,004058: 26,3211           45014                           CLEAR    CALL                                  
025111,004059: 26,3212           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
025112,004060: 26,3213           27410                                    INTSTALL                              
025113,004061: 26,3214           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
025114,004062: 26,3215           03463                                    MARKCTR                               
025115,004063: 26,3216           55231                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
025116,004064: 26,3217           43014                           CLEAR    SET                                   
025117,004065: 26,3220           01675                                    D6OR9FLG                              
025118,004066: 26,3221           01476                                    DIM0FLAG                              
025119,004067: 26,3222           43014                           SET      CLEAR                                 
025120,004068: 26,3223           01474                                    VINTFLAG                              
025121,004069: 26,3224           01673                                    INTYPFLG                              
025122,004070: 26,3225           77624                           CALL                                           
025123,004071: 26,3226           55242                                    INTGRCAL                              
025124,004072: 26,3227           77650                           GOTO                                           
025125,004073: 26,3230           54514                                    RANGEBQ                               
025126,004074: 
025127,004075: 26,3231           77624        INITWMX6           CALL                                           
025128,004076: 26,3232           55251                                    WLINIT                                #  INITIALIZE W-MATRIX
025129,004077: 26,3233           45014                           SET      CALL                                  
025130,004078: 26,3234           01474                                    VINTFLAG                              
025131,004079: 26,3235           26643                                    SETIFLGS                              
025132,004080: 26,3236           77624                           CALL                                           
025133,004081: 26,3237           55242                                    INTGRCAL                              
025134,004082: 26,3240           77650                           GOTO                                           
025135,004083: 26,3241           54514                                    RANGEBQ                               
025136,004084: 
025137,004085:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025138,004086: 
025139,004087: 26,3242           71220        INTGRCAL           STQ      DLOAD                                 
025140,004088: 26,3243           03675                                    IGRET                                 
025141,004089: 26,3244           03755                                    MKTIME                                

Page 590

025143,004091: 26,3245           34041                           STCALL   TDEC1                                 
025144,004092: 26,3246           27133                                    INTEGRV                               
025145,004093: 26,3247           77650                           GOTO                                           
025146,004094: 26,3250           03675                                    IGRET                                 
025147,004095: 
025148,004096:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025149,004097:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025150,004098: 
025151,004099: 26,3251  E5,1400                                  EBANK=   W                                     
025152,004100: 26,3251           77776        WLINIT             EXIT                                           
025153,004101: 26,3252           33331                           CAF      WBANK                                 
025154,004102: 26,3253           54006                           TS       BBANK                                 
025155,004103: 26,3254           33437                           CAF      WSIZE                                 
025156,004104: 26,3255           55256                           TS       W.IND                                 
025157,004105: 26,3256           34755                           CAF      ZERO                                  
025158,004106: 
025159,004107: 26,3257           51256                           INDEX    W.IND                                 
025160,004108: 26,3260           55400                           TS       W                                     
025161,004109: 26,3261           11256                           CCS      W.IND                                 
025162,004110: 26,3262           03255                           TC       -5                                    
025163,004111: 26,3263           33332                           CAF      AIGBANK                               #  RESTORE EBANK 7
025164,004112: 26,3264           54006                           TS       BBANK                                 
025165,004113: 26,3265           06042                           TC       INTPRET                               
025166,004114: 26,3266           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE, INITIALIZE WITH 
025167,004115: 26,3267           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
025168,004116: 26,3270           55274                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
025169,004117: 26,3271           02001                                    WRENDPOS                              
025170,004118: 26,3272           77650                           GOTO                                           
025171,004119: 26,3273           55276                                    WPOSTORE                              
025172,004120: 26,3274           77735        WLSRFPOS           SLOAD                                          
025173,004121: 26,3275           02007                                    WSURFPOS                              
025174,004122: 26,3276           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
025175,004123: 26,3277           20606                                    5                                     
025176,004124: 26,3300           02401                           STORE    W                                     
025177,004125: 26,3301           02411                           STORE    W          +8D                        
025178,004126: 26,3302           02421                           STORE    W          +16D                       
025179,004127: 26,3303           67214                           BON      SLOAD                                 
025180,004128: 26,3304           04307                                    SURFFLAG                              
025181,004129: 26,3305           55311                                    WLSRFVEL                              
025182,004130: 26,3306           02002                                    WRENDVEL                              
025183,004131: 26,3307           77650                           GOTO                                           
025184,004132: 26,3310           55313                                    WVELSTOR                              
025185,004133: 26,3311           77735        WLSRFVEL           SLOAD                                          
025186,004134: 26,3312           02010                                    WSURFVEL                              
025187,004135: 26,3313           02511        WVELSTOR           STORE    W          +72D                       
025188,004136: 26,3314           02521                           STORE    W          +80D                       
025189,004137: 26,3315           02531                           STORE    W          +88D                       
025190,004138: 26,3316           77735                           SLOAD                                          
025191,004139: 26,3317           02003                                    WSHAFT                                
025192,004140: 26,3320           02621                           STORE    W          +144D                      
025193,004141: 26,3321           77735                           SLOAD                                          

Page 591

025195,004143: 26,3322           02004                                    WTRUN                                 
025196,004144: 26,3323           02631                           STORE    W          +152D                      
025197,004145: 26,3324           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
025198,004146: 26,3325           02476                                    RENDWFLG                              
025199,004147: 26,3326           03463                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
025200,004148: 26,3327           00000                                    0                                     
025201,004149: 26,3330           77616                           RVQ                                            
025202,004150: 
025203,004151: 26,3331  E5,1400                                  EBANK=   W                                     
025204,004152: 26,3331           54065        WBANK              BBCON    WLINIT                                
025205,004153: 26,3332  E7,1457                                  EBANK=   AIG                                   
025206,004154: 26,3332           54067        AIGBANK            BBCON    LSR22.3                               
025207,004155: 
025208,004156:                                                                                                  #  GETULC
025209,004157: 
025210,004158:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025211,004159:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025212,004160:                                                                                                  #  MAGNITUDE IN 36D.
025213,004161: 
025214,004162: 26,3333           77201        GETULC             SETPD    VLOAD                                 
025215,004163: 26,3334           00001                                    0                                     
025216,004164: 26,3335           01645                                    DELTALEM                              
025217,004165: 26,3336           77754                           LXA,2                                          
025218,004166: 26,3337           03720                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
025219,004167: 26,3340           53257                           VSR*     VAD                                   
025220,004168: 26,3341           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025221,004169: 26,3342           01661                                    RCVLEM                                
025222,004170: 26,3343           53715                           PDVL     VSR*                                  
025223,004171: 26,3344           01573                                    DELTACSM                              
025224,004172: 26,3345           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025225,004173: 26,3346           52255                           VAD      VSU                                   
025226,004174: 26,3347           01607                                    RCVCSM                                
025227,004175: 26,3350           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
025228,004176: 26,3351           21725                                    NORMUNX1                              
025229,004177: 26,3352           17724                           STODL    ULC                                   
025230,004178: 26,3353           00045                                    36D                                   
025231,004179: 26,3354           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
025232,004180: 26,3355           20201                                    0,1                                   
025233,004181: 26,3356           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
025234,004182: 26,3357           03724                                    ULC                                   
025235,004183: 26,3360           77616                           RVQ                                            
025236,004184: 
025237,004185:                                                                                                  #  RADARANG
025238,004186: 
025239,004187:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025240,004188:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
025241,004189:                                                                                                  #  OUTPUT
025242,004190:                                                                                                  #        ULC IN ULC, PD0
025243,004191:                                                                                                  #        RLC IN PD36D
025244,004192:                                                                                                  #        SIN THETA IN SINTHETA AND PD6
025245,004193:                                                                                                  #        RXZ NORM IN RXZ (N IN X1)

Page 592

025247,004195: 
025248,004196: 26,3361           45020        RADARANG           STQ      CALL                                  
025249,004197: 26,3362           03675                                    RDRET                                 
025250,004198: 26,3363           55333                                    GETULC                                
025251,004199: 26,3364           50276                           VCOMP    DOT                                   
025252,004200: 26,3365           03705                                    MY                                    
025253,004201: 26,3366           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
025254,004202: 26,3367           03732                           STORE    SINTHETA                              
025255,004203: 26,3370           44316                           DSQ      BDSU                                  
025256,004204: 26,3371           06514                                    DP1/4TH                               #  1-(SIN THETA)**2
025257,004205: 26,3372           41366                           SQRT     DMP                                   
025258,004206: 26,3373           00045                                    36D                                   
025259,004207: 26,3374           60352                           SL1      NORM                                  
025260,004208: 26,3375           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
025261,004209: 26,3376           03722                           STORE    RXZ                                   
025262,004210: 26,3377           77650                           GOTO                                           #  EXIT
025263,004211: 26,3400           03675                                    RDRET                                 
025264,004212: 26,3401           45020        LGCUPDTE           STQ      CALL                                  
025265,004213: 26,3402           03675                                    LGRET                                 
025266,004214: 26,3403           46533                                    INCORP1                               
025267,004215: 26,3404           51575                           VLOAD    ABVAL                                 
025268,004216: 26,3405           02673                                    DELTAX     +6                         
025269,004217: 26,3406           53754                           LXA,2    SRR*                                  
025270,004218: 26,3407           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
025271,004219: 26,3410           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
025272,004220: 26,3411           24317                           STOVL    R22DISP    +2                         
025273,004221: 26,3412           02665                                    DELTAX                                
025274,004222: 26,3413           53646                           ABVAL    SRR*                                  
025275,004223: 26,3414           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
025276,004224: 26,3415           00315                           STORE    R22DISP                               
025277,004225: 26,3416           54335                           SLOAD    SR                                    
025278,004226: 26,3417           02005                                    RMAX                                  
025279,004227: 26,3420           20613                                    10D                                   
025280,004228: 26,3421           50025                           DSU      BMN                                   
025281,004229: 26,3422           00315                                    R22DISP                               
025282,004230: 26,3423           50566                                    R22LEM96                              #  GO DISPLAY
025283,004231: 26,3424           45335                           SLOAD    DSU                                   
025284,004232: 26,3425           02006                                    VMAX                                  
025285,004233: 26,3426           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
025286,004234: 26,3427           77640                           BMN                                            
025287,004235: 26,3430           50566                                    R22LEM96                              #  GO DISPLAY
025288,004236: 26,3431           77624        ASTOK              CALL                                           
025289,004237: 26,3432           46745                                    INCORP2                               
025290,004238: 26,3433           77650                           GOTO                                           
025291,004239: 26,3434           03675                                    LGRET                                 
025292,004240: 26,3435           00103 03370  IMUVAR             2DEC     1          E-6        B12             #  RAD**2
025293,004241: 
025294,004242: 26,3437           00241        WSIZE              DEC      161        B-14                       
025295,004243: 26,3440           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
025296,004244: 
025297,004245: 26,3442  E7,1456                                  EBANK=   LOSCOUNT                              
025298,004246: 

Page 593

025300,004248:                                                                                                  #  PROGRAM NAME LRS24.1          RR SEARCH ROUTINE
025301,004249:                                                                                                  #  MOD NO  0                     BY P VOLANTE  SDC               DATE 1-15-67
025302,004250: 
025303,004251:                                                                                                  #  FUNCTIONAL DESCRIPTION
025304,004252: 
025305,004253:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025306,004254:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025307,004255:                                                                                                  #  LM +Z AXIS.  IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025308,004256:                                                                                                  #  ATTITUDE MANEUVER.
025309,004257: 
025310,004258:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
025311,004259: 
025312,004260:                                                                                                  #  SUBROUTINES CALLED
025313,004261: 
025314,004262:                                                                                                  #        LEMCONIC        R61LEM
025315,004263:                                                                                                  #        CSMCONIC        RRDESSM
025316,004264:                                                                                                  #        JOBDELAY        FLAGDOWN
025317,004265:                                                                                                  #        WAITLIST        FLAGUP
025318,004266:                                                                                                  #        RRNB            BANKCALL
025319,004267: 
025320,004268:                                                                                                  #  EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025321,004269: 
025322,004270:                                                                                                  #  OUTPUT
025323,004271: 
025324,004272:                                                                                                  #        DATAGOOD (SP) - FOR DISPLAY IN R1 -     00000 INDICATES NO LOCKON
025325,004273:                                                                                                  #                                                11111 INDICATES LOCKON ACHIEVED
025326,004274:                                                                                                  #        OMEGAD (SP)   - FOR DISPLAY IN R2 -     ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025327,004275: 
025328,004276:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025329,004277: 
025330,004278:                                                                                                  #        SEARCH FLAG MUST BE SET
025331,004279:                                                                                                  #        LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025332,004280: 
025333,004281:                                                                                                  #  DEBRIS
025334,004282: 
025335,004283:                                                                                                  #        RLMSRCH         UXVECT
025336,004284:                                                                                                  #        VXRLM           UYVECT
025337,004285:                                                                                                  #        LOSDESRD        NSRCHPNT
025338,004286:                                                                                                  #        DATAGOOD        OMEGAD
025339,004287:                                                                                                  #        MPAC            PUSHLIST
025340,004288: 
025341,004289: 26,3442                                           COUNT*   $$/LRS24                              
025342,004290: 26,3442           34755        LRS24.1            CAF      ZERO                                  
025343,004291: 26,3443           55736                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
025344,004292: 26,3444           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
025345,004293: 26,3445           00006                           EXTEND                                         

Page 594

025347,004295: 26,3446           05012                           WOR      CHAN12                                
025348,004296: 26,3447           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
025349,004297: 26,3450           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
025350,004298: 26,3451           00006                           EXTEND                                         
025351,004299: 26,3452           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
025352,004300: 
025353,004301: 26,3453           33713                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025354,004302: 26,3454           00004                           INHINT                                         
025355,004303: 26,3455           05203                           TC       WAITLIST                              #  IN 6 SECONDS
025356,004304: 26,3456  E7,1456                                  EBANK=   LOSCOUNT                              
025357,004305: 26,3456           03643 54067                     2CADR    CALLDGCH                              
025358,004306: 
025359,004307: 26,3460           00003                           RELINT                                         
025360,004308: 26,3461           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
025361,004309: 26,3462           74736                           MASK     REMODBIT                              
025362,004310: 26,3463           00006                           EXTEND                                         
025363,004311: 26,3464           15155                           BZF      ENDOFJOB                              #  YES - WAIT SIX SECONDS
025364,004312: 26,3465           06042                           TC       INTPRET                               
025365,004313: 
025366,004314: 26,3466           43234                           RTB      DAD                                   #  COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025367,004315: 26,3467           21574                                    LOADTIME                              
025368,004316: 26,3470           15715                                    1.5SECS                               
025369,004317: 26,3471           34041        LRS24.11           STCALL   TDEC1                                 
025370,004318: 26,3472           27077                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
025371,004319: 26,3473           77775                           VLOAD                                          
025372,004320: 26,3474           00001                                    RATT                                  
025373,004321: 26,3475           27676                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
025374,004322: 26,3476           00007                                    VATT                                  
025375,004323: 26,3477           17740                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
025376,004324: 26,3500           00015                                    TAT                                   
025377,004325: 26,3501           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
025378,004326: 26,3502           27065                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
025379,004327: 26,3503           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM) - R(LM)
025380,004328: 26,3504           00001                                    RATT                                  
025381,004329: 26,3505           03676                                    RLMSRCH                               
025382,004330: 26,3506           77656                           UNIT                                           
025383,004331: 26,3507           27712                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
025384,004332: 26,3510           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
025385,004333: 26,3511           47256                           UNIT     VXV                                   
025386,004334: 26,3512           00001                                    RATT                                  
025387,004335: 26,3513           77656                           UNIT                                           
025388,004336: 26,3514           03704                           STORE    VXRCM                                 
025389,004337: 26,3515           52375                           VLOAD    VSU                                   
025390,004338: 26,3516           00007                                    VATT                                  
025391,004339: 26,3517           03740                                    SAVLEMV                               
025392,004340: 26,3520           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
025393,004341: 26,3521           01734                                    REFSMMAT                              
025394,004342: 26,3522           03740                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
025395,004343: 26,3523           53135                           SLOAD    BZE                                   #  CHECK IF N=0

Page 595

025397,004345: 26,3524           03737                                    NSRCHPNT                              
025398,004346: 26,3525           55636                                    DESGLOS                               #  YES - DESIGNATE ALONG LOS
025399,004347: 26,3526           53025                           DSU      BZE                                   #  IS N=1
025400,004348: 26,3527           15711                                    ONEOCT                                #  YES - CALCULATE X AND Y AXES OF
025401,004349: 26,3530           55623                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
025402,004350: 26,3531           77775                           VLOAD                                          #  NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025403,004351: 26,3532           03720                                    UXVECT                                
025404,004352: 26,3533           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
025405,004353: 26,3534           03726                                    UYVECT                                #  UXPRIME = ORIGINAL UX
025406,004354: 26,3535           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
025407,004355: 26,3536           77761                           VXSC                                           
025408,004356: 26,3537           15705                                    SIN60DEG                              #  UX = (COS 60) UXPR + (SIN 60) UYPR
025409,004357: 26,3540           27720                           STOVL    UXVECT                                
025410,004358: 26,3541           00015                                    UXVECTPR                              
025411,004359: 26,3542           53361                           VXSC     VAD                                   
025412,004360: 26,3543           06522                                    COS60DEG                              
025413,004361: 26,3544           03720                                    UXVECT                                
025414,004362: 26,3545           77656                           UNIT                                           
025415,004363: 26,3546           27720                           STOVL    UXVECT                                
025416,004364: 26,3547           00015                                    UXVECTPR                              #  UY = (-SIN 60) UXPR + (COS 60) UYPR
025417,004365: 26,3550           77761                           VXSC                                           
025418,004366: 26,3551           15705                                    SIN60DEG                              
025419,004367: 26,3552           27726                           STOVL    UYVECT                                
025420,004368: 26,3553           00023                                    UYVECTPR                              
025421,004369: 26,3554           52361                           VXSC     VSU                                   
025422,004370: 26,3555           06522                                    COS60DEG                              
025423,004371: 26,3556           03726                                    UYVECT                                
025424,004372: 26,3557           77656                           UNIT                                           
025425,004373: 26,3560           03726                           STORE    UYVECT                                
025426,004374: 26,3561           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
025427,004375: 26,3562           15707                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
025428,004376: 26,3563           03712                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
025429,004377: 26,3564           64256                           UNIT     MXV                                   
025430,004378: 26,3565           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
025431,004379: 26,3566           77772                           VSL1                                           
025432,004380: 26,3567           25101        CONTDESG           STOVL    RRTARGET                              
025433,004381: 26,3570           03740                                    SAVLEMV                               
025434,004382: 26,3571           01761                           STORE    LOSVEL                                
025435,004383: 26,3572           77776                           EXIT                                           
025436,004384: 26,3573           00004                           INHINT                                         
025437,004385: 26,3574           06032                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
025438,004386: 26,3575           52613                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
025439,004387:                                                                                                  #  POINT IN THE PATTERN
025440,004388: 26,3576           44735        CONTDES2           CS       CDESBIT                               
025441,004389: 26,3577           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
025442,004390: 26,3600           64735                           AD       CDESBIT                               #  A CONTINUOUS DESIGNATE WANTED.
025443,004391: 26,3601           54110                           TS       RADMODES                              
025444,004392: 26,3602           06042                           TC       INTPRET                               
025445,004393: 
025446,004394: 26,3603           77624                           CALL                                           

Page 596

025448,004396: 26,3604           52404                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
025449,004397: 
025450,004398: 26,3605           77776                           EXIT                                           
025451,004399: 26,3606           03675                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
025452,004400: 26,3607           03675                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
025453,004401: 
025454,004402:                                                                                                  #  COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025455,004403:                                                                                                  #  SPACECRAFT +Z AXIS
025456,004404: 26,3610           00006        OMEGCALC           EXTEND                                         
025457,004405: 26,3611           30036                           DCA      CDUT                                  
025458,004406: 26,3612           53753                           DXCH     TANGNB                                
025459,004407: 26,3613           06042                           TC       INTPRET                               
025460,004408: 26,3614           77624                           CALL                                           
025461,004409: 26,3615           46041                                    RRNB                                  
025462,004410: 26,3616           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025463,004411: 26,3617           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025464,004412: 26,3620           03735                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
025465,004413: 26,3621           77776                           EXIT                                           
025466,004414: 26,3622           05155                           TC       ENDOFJOB                              

Page 597

025468,004416:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025469,004417: 
025470,004418: 26,3623           47375        CALCXY             VLOAD    VXV                                   
025471,004419: 26,3624           03704                                    VXRCM                                 
025472,004420: 26,3625           03712                                    LOSDESRD                              
025473,004421: 26,3626           77656                           UNIT                                           
025474,004422: 26,3627           27720                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
025475,004423: 26,3630           03712                                    LOSDESRD                              
025476,004424: 26,3631           53435                           VXV      UNIT                                  
025477,004425: 26,3632           03720                                    UXVECT                                
025478,004426: 26,3633           03726                           STORE    UYVECT                                #  UY = LOS X UX
025479,004427: 26,3634           77650                           GOTO                                           
025480,004428: 26,3635           55561                                    OFFCALC                               
025481,004429: 
025482,004430: 26,3636           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
025483,004431: 26,3637           03712                                    LOSDESRD                              
025484,004432: 26,3640           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
025485,004433: 26,3641           52172                           VSL1     GOTO                                  
025486,004434: 26,3642           55567                                    CONTDESG                              
025487,004435: 
025488,004436: 26,3643           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
025489,004437: 26,3644           74745                           MASK     RNDVZBIT                              
025490,004438: 26,3645           00006                           EXTEND                                         
025491,004439: 26,3646           15261                           BZF      TASKOVER                              #  NO - EXIT R24
025492,004440: 26,3647           37716                           CAF      PRIO25                                #  YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025493,004441: 26,3650           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
025494,004442: 26,3651  E7,1675                                  EBANK=   RLMSRCH                               
025495,004443: 26,3651           03654 54067                     2CADR    DATGDCHK                              
025496,004444: 
025497,004445: 26,3653           05261                           TC       TASKOVER                              
025498,004446: 
025499,004447: 26,3654           34750        DATGDCHK           CAF      BIT4                                  
025500,004448: 26,3655           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
025501,004449: 26,3656           02033                           RAND     CHAN33                                
025502,004450: 26,3657           00006                           EXTEND                                         
025503,004451: 26,3660           13667                           BZF      STORE1S                               #  YES - GO TO STORE 11111 FOR DISPLAY IN R1
025504,004452: 26,3661           46245                           CS       SIX                                   
025505,004453: 26,3662           61736                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
025506,004454: 26,3663           00006                           EXTEND                                         
025507,004455: 26,3664           13442                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
025508,004456: 26,3665           25736                           INCR     NSRCHPNT                              #  NO - SET N = N+1 AN GO TO
025509,004457: 26,3666           13444                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
025510,004458: 
025511,004459: 26,3667           33703        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
025512,004460: 26,3670           55733                           TS       DATAGOOD                              

Page 598

025514,004462: 26,3671           00004                           INHINT                                         
025515,004463: 26,3672           06032                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
025516,004464: 26,3673           52613                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
025517,004465: 26,3674           05155                           TC       ENDOFJOB                              
025518,004466: 
025519,004467: 26,3675           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527 - LOS NOT IN MODE2
025520,004468: 26,3676           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
025521,004469: 26,3677           00004                           INHINT                                         #  REQUIRED IN P20
025522,004470: 26,3700           06032                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
025523,004471: 26,3701           55643                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
025524,004472: 26,3702           05155                           TC       ENDOFJOB                              
025525,004473: 
025526,004474: 26,3703           25547        ALL1S              DEC      11111      B-14                       
025527,004475: 26,3704           33555 01106  SIN60DEG           2DEC     .86603                                
025528,004476: 26,3706  23,2521               COS60DEG           =        DPHALF                                #  (2DEC .50)
025529,004477: 26,3706                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
025530,004478: 26,3706                        UYVECTPR           EQUALS   18D                                   
025531,004479: 26,3706                        RLMUNIT            EQUALS   12D                                   
025532,004480: 26,3706           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
025533,004481: 26,3710           00001        ONEOCT             OCT      00001                                 #  **** NOTE - THESE TWO CONSTANTS MUST ****
025534,004482: 26,3711           00000 00454  3SECONDS           2DEC     300        B-28                       #  **** BE IN THIS ORDER BECAUSE         ****
025535,004483:                                                                                                  #  **** ONEOCT NEEDS A LOWER ORDER       ****
025536,004484:                                                                                                  #  **** WORD OF ZEROES                   ****
025537,004485: 26,3713           01130        6SECONDS           DEC      600        B-14                       
025538,004486: 26,3714           00000 00226  1.5SECS            2DEC     150        B-28                       
025539,004487: 
025540,004488: 26,3716  23,2523               ZERO/SP            EQUALS   HI6ZEROS                              
025541,004489: 
025542,004490:    4616                                           BLOCK    02                                    
025543,004491:    6000                                           SETLOC   FFTAG5                                
025544,004492:    6000                                           BANK                                           
025545,004493:    6025                                           COUNT*   $$/P20                                
025546,004494:    6025           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
025547,004495:    6026           36031                           DCA      VB56CADR                              #  GOTOPOOH
025548,004496:    6027           15165                           TCF      SUPDXCHZ                              
025549,004497:    6030  E7,1471                                  EBANK=   WHOCARES                              
025550,004498:    6030           03045 66107  VB56CADR           2CADR    TRMTRACK                              
025551,004499: 

Page 599

025553,004501:                                                                                                  #  PROGRAM NAME: R29     (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025554,004502:                                                                                                  #  MOD NO. 2     BY H. BLAIR-SMITH       JULY 2, 1968.
025555,004503: 
025556,004504:                                                                                                  #  FUNCTIONAL DESCRIPTION:
025557,004505: 
025558,004506:                                                                                                  #        DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025559,004507:                                                                                                  #        AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
025560,004508:                                                                                                  #        THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
025561,004509:                                                                                                  #        THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025562,004510:                                                                                                  #        DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025563,004511:                                                                                                  #        INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
025564,004512: 
025565,004513:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025566,004514: 
025567,004515:                                                                                                  #  SUBROUTINES CALLED:
025568,004516: 
025569,004517:                                                                                                  #        REMODE          RRTONLY
025570,004518:                                                                                                  #        UNIT            MPACVBUF
025571,004519:                                                                                                  #        QUICTRIG        AX*SR*T
025572,004520:                                                                                                  #        SPSIN           SPCOS
025573,004521:                                                                                                  #        SETRRECR        RROUT
025574,004522:                                                                                                  #        RRRDOT          RRRANGE
025575,004523: 
025576,004524:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
025577,004525: 
025578,004526:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
025579,004527: 
025580,004528:                                                                                                  #        RM              RDOTM           (RAW)
025581,004529:                                                                                                  #        AIG             AMG             
025582,004530:                                                                                                  #        AOG             TRKMKCNT        TRKMKCNT = 00001 IF SET IS CONSISTENT,
025583,004531:                                                                                                  #        TANGNB          TANGNB +1       OTHERWISE TRKMKCNT = 00000.
025584,004532:                                                                                                  #        MKTIME

Page 600

025586,004534: 
025587,004535:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
025588,004536: 
025589,004537:                                                                                                  #        NOR29FLG        READRFLG                (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025590,004538:                                                                                                  #        PIPTIME         RADMODES (BIT 10)       (BIT SET TO 0 BY FRESH START)
025591,004539:                                                                                                  #        R(CSM)          V(CSM)
025592,004540:                                                                                                  #        R               V                       (PIPTIME THRU V BY AVE G IN SERVICER)
025593,004541: 
025594,004542:                                                                                                  #  DEBRIS:
025595,004543: 
025596,004544:                                                                                                  #        RADMODES (BIT 10)
025597,004545:                                                                                                  #        LOSSM           LOSVDT/4                (= RRTARGET & LOSVEL)
025598,004546:                                                                                                  #        SAVECDUT        OLDESFLG                (SAVECDUT = MLOSV)
025599,004547:                                                                                                  #        LOSCMFLG        READRFLG
025600,004548: 
025601,004549:                                                                                                  #  ALARMS:  NONE.
025602,004550: 
025603,004551:                                                                                                  #  COMPONENT JOBS AND TASKS:
025604,004552: 
025605,004553:                                                                                                  #        INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
025606,004554:                                                                                                  #        DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
025607,004555:                                                                                                  #        RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
025608,004556: 
025609,004557: 33,2045                                           BANK     33                                    
025610,004558: 33,2000                                           SETLOC   R29/SERV                              
025611,004559: 33,2000                                           BANK                                           
025612,004560: 
025613,004561: 33,2045                                           COUNT*   $$/r29                                
025614,004562: 
025615,004563: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
025616,004564: 

Page 601

025618,004566:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025619,004567:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025620,004568: 
025621,004569: 33,2045           40110        R29                CS       RADMODES                              
025622,004570: 33,2046           74742                           MASK     DESIGBIT                              
025623,004571: 33,2047           00006                           EXTEND                                         
025624,004572: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
025625,004573: 
025626,004574: 33,2051           00004                           INHINT                                         
025627,004575: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
025628,004576: 33,2053           44736                           CS       BIT14                                 
025629,004577: 33,2054           00006                           EXTEND                                         
025630,004578: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
025631,004579: 33,2056           44740                           CS       LOSCMBIT                              
025632,004580: 33,2057           70076                           MASK     FLAGWRD2                              
025633,004581: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025634,004582: 33,2061           44753                           CS       OLDESBIT                              
025635,004583: 33,2062           70074                           MASK     STATE                                 
025636,004584: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
025637,004585: 33,2064           04616                           TC       BANKCALL                              
025638,004586: 33,2065           52167                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
025639,004587: 33,2066           34740                           CA       ANTENBIT                              
025640,004588: 33,2067           70110                           MASK     RADMODES                              
025641,004589: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
025642,004590: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
025643,004591: 
025644,004592: 33,2072           35031                           CA       PRIO21                                #  MODE 1;  MUST REMODE.
025645,004593: 33,2073           05072                           TC       NOVAC                                 
025646,004594: 33,2074  E7,1456                                  EBANK=   LOSCOUNT                              
025647,004595: 33,2074           02113 66067                     2CADR    R29REM0J                              #  NEEDS OWN JOB TO RADSTALL IN.
025648,004596: 
025649,004597: 33,2076           44742                           CS       DESIGBIT                              
025650,004598: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
025651,004599: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
025652,004600: 33,2101           34736                           CA       REMODBIT                              
025653,004601: 33,2102           26110                           ADS      RADMODES                              #  SHOW THAT REMODING IS ON.
025654,004602: 33,2103           12573                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
025655,004603: 
025656,004604: 33,2104           34753        SETPRPOS           CA       ONE                                   
025657,004605: 33,2105           05203                           TC       WAITLIST                              
025658,004606: 33,2106  E7,1456                                  EBANK=   LOSCOUNT                              
025659,004607: 33,2106           03604 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
025660,004608: 
025661,004609: 33,2110           34741                           CA       REPOSBIT                              
025662,004610: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
025663,004611: 33,2112           12573                           TCF      NOR29NOW                              
025664,004612: 

Page 602

025666,004614:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
025667,004615: 
025668,004616: 33,2113           34753        R29REM0J           CA       ONE                                   
025669,004617: 33,2114           05203                           TC       WAITLIST                              
025670,004618: 33,2115  E7,1456                                  EBANK=   LOSCOUNT                              
025671,004619: 33,2115           02202 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
025672,004620: 
025673,004621: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
025674,004622: 33,2120           17705                           CADR     RADSTALL                              
025675,004623: 
025676,004624: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
025677,004625: 33,2122           15155                           TCF      ENDOFJOB                              
025678,004626: 
025679,004627:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025680,004628: 
025681,004629: 25,2000                                           SETLOC   R29S1                                 
025682,004630: 25,2000                                           BANK                                           
025683,004631: 
025684,004632: 25,3604           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
025685,004633: 25,3605           02252                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
025686,004634: 25,3606           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
025687,004635: 25,3607           70110                           MASK     RADMODES                              
025688,004636: 25,3610           54110                           TS       RADMODES                              
025689,004637: 25,3611           15261                           TCF      TASKOVER                              
025690,004638: 
025691,004639:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025692,004640: 
025693,004641: 33,2045                                           SETLOC   R29                                   
025694,004642: 33,2045                                           BANK                                           
025695,004643: 
025696,004644: 33,2123           00006        R29.LOS            EXTEND                                         
025697,004645: 33,2124           41234                           DCS      PIPTIME                               
025698,004646: 33,2125           52155                           DXCH     MPAC                                  
025699,004647: 33,2126           00006                           EXTEND                                         
025700,004648: 33,2127           30025                           DCA      TIME2                                 
025701,004649: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
025702,004650: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
025703,004651: 33,2132           30155                           CA       MPAC       +1                         
025704,004652: 33,2133           00006                           EXTEND                                         
025705,004653: 33,2134           74740                           MP       BIT12                                 
025706,004654: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
025707,004655: 33,2136           06042                           TC       INTPRET                               

Page 603

025709,004657:                                                                                                  #  LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025710,004658:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
025711,004659: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
025712,004660: 33,2140           01726                                    V(CSM)                                
025713,004661: 33,2141           03527                                    V                                     #  LOSVEL = V(CSM) - V.
025714,004662: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025715,004663: 33,2143           52255                           VAD      VSU                                   #        AND ADD THE RESULT TO R(CSM) - R TO GET
025716,004664: 33,2144           01720                                    R(CSM)                                #        AN UP-TO-DATE LOS VECTOR IN SM AXES.
025717,004665: 33,2145           03521                                    R                                     
025718,004666: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
025719,004667: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025720,004668: 33,2150           66152                                    SETUP29D                              #  FLG TO ON AND GO TO SET UP NEW DATA.
025721,004669: 33,2151           12573                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
025722,004670: 
025723,004671: 33,2152           25101        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025724,004672: 33,2153           00001                                    0                                     
025725,004673: 33,2154           77761                           VXSC                                           
025726,004674: 33,2155           26177                                    .5SECB17                              
025727,004675: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
025728,004676: 33,2157           77414                           CLEAR    EXIT                                  
025729,004677: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
025730,004678: 
025731,004679: 33,2161           40074                           CS       STATE                                 
025732,004680: 33,2162           74753                           MASK     OLDESBIT                              
025733,004681: 33,2163           00006                           EXTEND                                         
025734,004682: 33,2164           12573                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
025735,004683: 33,2165           00004                           INHINT                                         
025736,004684: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
025737,004685: 
025738,004686: 33,2167           11055                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025739,004687: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
025740,004688: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
025741,004689: 33,2172           05203                           TC       WAITLIST                              
025742,004690: 33,2173  E7,1456                                  EBANK=   LOSCOUNT                              
025743,004691: 33,2173           03357 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
025744,004692: 
025745,004693: 33,2175           12573                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
025746,004694: 
025747,004695: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
025748,004696: 

Page 604

025750,004698:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025751,004699:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025752,004700: 
025753,004701: 24,3357                                           BANK     24                                    
025754,004702: 24,2000                                           SETLOC   P20S                                  
025755,004703: 24,2000                                           BANK                                           
025756,004704: 
025757,004705: 24,3357                                           COUNT*   $$/R29                                
025758,004706: 
025759,004707: 24,3357           35031        BEGDES29           CAF      PRIO21                                
025760,004708: 24,3360           05072                           TC       NOVAC                                 
025761,004709: 24,3361  E3,1760                                  EBANK=   LOSVDT/4                              
025762,004710: 24,3361           02550 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
025763,004711: 
025764,004712: 24,3363           34774        R29DLOOP           CAF      .5SEC                                 
025765,004713: 24,3364           05224                           TC       VARDELAY                              
025766,004714: 
025767,004715: 24,3365           40110                           CS       RADMODES                              
025768,004716: 24,3366           74742                           MASK     DESIGBIT                              
025769,004717: 24,3367           10000                           CCS      A                                     
025770,004718: 24,3370           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
025771,004719: 
025772,004720: 24,3371           40076                           CS       FLAGWRD2                              
025773,004721: 24,3372           74740                           MASK     LOSCMBIT                              
025774,004722: 24,3373           00006                           EXTEND                                         
025775,004723: 24,3374           13377                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025776,004724: 24,3375           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
025777,004725: 24,3376           13357                           TCF      BEGDES29                              
025778,004726: 
025779,004727: 24,3377           34753                           CA       ONE                                   
025780,004728: 24,3400           13364                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.

Page 605

025782,004730:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
025783,004731: 
025784,004732:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
025785,004733:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025786,004734:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025787,004735:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025788,004736:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025789,004737: 
025790,004738:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025791,004739:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
025792,004740: 
025793,004741: 32,2550                                           BANK     32                                    
025794,004742: 32,2000                                           SETLOC   F2DPS*32                              
025795,004743: 32,2000                                           BANK                                           
025796,004744: 
025797,004745: 32,2550                                           COUNT*   $$/R29                                
025798,004746: 32,2550  E3,1760                                  EBANK=   LOSVDT/4                              
025799,004747: 
025800,004748: 32,2550           34753        R29DODES           CA       ONE                                   
025801,004749: 32,2551           55106                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
025802,004750: 32,2552           34756                           CA       FIVE                                  
025803,004751: 
025804,004752: 32,2553           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
025805,004753: 32,2554           54002                           TS       Q                                     
025806,004754: 32,2555           11106                           CCS      TANG                                  
025807,004755: 32,2556           12564                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
025808,004756: 
025809,004757: 32,2557           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
025810,004758: 32,2560           50002                           INDEX    Q                                     
025811,004759: 32,2561           31761                           DCA      LOSVDT/4                              
025812,004760: 32,2562           50002                           INDEX    Q                                     
025813,004761: 32,2563           21101                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
025814,004762: 
025815,004763: 32,2564           00006        R29DPAS1           EXTEND                                         
025816,004764: 32,2565           50002                           INDEX    Q                                     
025817,004765: 32,2566           31101                           DCA      LOSSM                                 
025818,004766: 32,2567           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025819,004767: 32,2570           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
025820,004768: 32,2571           11106                           CCS      TANG                                  
025821,004769: 32,2572           12600                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
025822,004770: 
025823,004771: 32,2573           00006                           EXTEND                                         
025824,004772: 32,2574           50002                           INDEX    Q                                     
025825,004773: 32,2575           31761                           DCA      LOSVDT/4                              
025826,004774: 32,2576           50002                           INDEX    Q                                     
025827,004775: 32,2577           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025828,004776: 
025829,004777: 32,2600           10002        R29DVEND           CCS      Q                                     
025830,004778: 32,2601           12553                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
025831,004779: 

Page 606

025833,004781:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025834,004782: 
025835,004783: 32,2602           52156                           DXCH     MPAC       +1                         
025836,004784: 32,2603           52155                           DXCH     MPAC                                  
025837,004785: 32,2604           32776                           CA       R29FXLOC                              #  = ADRES INTB15 + -34D
025838,004786: 32,2605           54120                           TS       FIXLOC                                
025839,004787: 32,2606           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025840,004788: 32,2607           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
025841,004789: 32,2610           07535                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025842,004790: 
025843,004791: 32,2611           11106                           CCS      TANG                                  
025844,004792: 32,2612           12614                           TCF      +2                                    
025845,004793: 32,2613           12630                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
025846,004794: 32,2614           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
025847,004795: 32,2615           00006                           EXTEND                                         
025848,004796: 32,2616           30036                           DCA      CDUT                                  
025849,004797: 32,2617           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
025850,004798: 32,2620           30033                           CA       CDUY                                  
025851,004799: 32,2621           54765                           TS       CDUSPOT                               
025852,004800: 32,2622           30034                           CA       CDUZ                                  
025853,004801: 32,2623           54767                           TS       CDUSPOT    +2                         
025854,004802: 32,2624           30032                           CA       CDUX                                  
025855,004803: 32,2625           54771                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025856,004804: 32,2626           04616                           TC       BANKCALL                              
025857,004805: 32,2627           47617                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
025858,004806: 
025859,004807: 32,2630           46250        GOTANGLS           CS       THREE                                 
025860,004808: 32,2631           04616                           TC       BANKCALL                              
025861,004809: 32,2632           47677                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025862,004810: 
025863,004811: 32,2633           11106                           CCS      TANG                                  
025864,004812: 32,2634           12636                           TCF      +2                                    
025865,004813: 32,2635           12703                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
025866,004814: 

Page 607

025868,004816:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025869,004817:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025870,004818: 
025871,004819: 32,2636           00004                           INHINT                                         
025872,004820: 32,2637           55106                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
025873,004821: 32,2640           31766                           CA       SAVECDUT                              
025874,004822: 32,2641           05032                           TC       SPCOS                                 
025875,004823: 32,2642           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
025876,004824: 32,2643           41766                           CS       SAVECDUT                              
025877,004825: 32,2644           05033                           TC       SPSIN                                 
025878,004826: 32,2645           54163                           TS       MODE                                  #  MODE = -SIN T.
025879,004827: 32,2646           00006                           EXTEND                                         
025880,004828: 32,2647           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
025881,004829: 32,2650           52155                           DXCH     MPAC                                  
025882,004830: 32,2651           31767                           CA       SAVECDUT   +1                         
025883,004831: 32,2652           05033                           TC       SPSIN                                 
025884,004832: 32,2653           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
025885,004833: 32,2654           00006                           EXTEND                                         
025886,004834: 32,2655           70166                           MP       PUSHLOC                               
025887,004835: 32,2656           00006                           EXTEND                                         
025888,004836: 32,2657           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
025889,004837: 32,2660           20155                           DAS      MPAC                                  
025890,004838: 32,2661           31767                           CA       SAVECDUT   +1                         
025891,004839: 32,2662           05032                           TC       SPCOS                                 
025892,004840: 32,2663           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S.
025893,004841: 32,2664           00006                           EXTEND                                         
025894,004842: 32,2665           70166                           MP       PUSHLOC                               
025895,004843: 32,2666           00006                           EXTEND                                         
025896,004844: 32,2667           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
025897,004845: 32,2670           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
025898,004846: 32,2671           00006                           EXTEND                                         #  -SIN T, COS S COS T).
025899,004847: 32,2672           30155                           DCA      MPAC                                  
025900,004848: 32,2673           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025901,004849: 32,2674           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
025902,004850: 32,2675           34736                           CA       BIT14                                 
025903,004851: 32,2676           12677                           NOOP                                           
025904,004852: 32,2677           00006                           EXTEND                                         
025905,004853: 32,2700           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025906,004854: 32,2701           00003                           RELINT                                         
025907,004855: 32,2702           12552                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
025908,004856: 

Page 608

025910,004858:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025911,004859: 
025912,004860: 32,2703           31767        R29DPAS2           CA       SAVECDUT   +1                         
025913,004861: 32,2704           00006                           EXTEND                                         
025914,004862: 32,2705           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
025915,004863: 32,2706           53107                           DXCH     TANG                                  
025916,004864: 32,2707           41766                           CS       SAVECDUT                              
025917,004865: 32,2710           00006                           EXTEND                                         
025918,004866: 32,2711           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
025919,004867: 32,2712           21107                           DAS      TANG                                  #  RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025920,004868: 32,2713           40163                           CS       MODE                                  #  - SIN S)
025921,004869: 32,2714           00006                           EXTEND                                         
025922,004870: 32,2715           71766                           MP       SAVECDUT                              
025923,004871: 32,2716           00006                           EXTEND                                         
025924,004872: 32,2717           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
025925,004873: 32,2720           52155                           DXCH     MPAC                                  
025926,004874: 32,2721           30166                           CA       PUSHLOC                               
025927,004875: 32,2722           00006                           EXTEND                                         
025928,004876: 32,2723           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
025929,004877: 32,2724           20155                           DAS      MPAC                                  
025930,004878: 32,2725           40163                           CS       MODE                                  
025931,004879: 32,2726           00006                           EXTEND                                         
025932,004880: 32,2727           71767                           MP       SAVECDUT   +1                         
025933,004881: 32,2730           00006                           EXTEND                                         
025934,004882: 32,2731           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
025935,004883: 32,2732           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
025936,004884: 32,2733           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
025937,004885: 32,2734           00006                           EXTEND                                         
025938,004886: 32,2735           72777                           MP       RR29GAIN                              
025939,004887: 32,2736           55354                           TS       TRUNNCMD                              
025940,004888: 32,2737           31106                           CA       TANG                                  
025941,004889: 32,2740           00006                           EXTEND                                         
025942,004890: 32,2741           72777                           MP       RR29GAIN                              
025943,004891: 32,2742           55355                           TS       SHAFTCMD                              #  STORE REFINED SHAFT COMMAND FOR RROUT
025944,004892: 

Page 609

025946,004894:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
025947,004895:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
025948,004896: 
025949,004897: 32,2743           34750        DGOOD?             CAF      BIT4                                  
025950,004898: 32,2744           00006                           EXTEND                                         
025951,004899: 32,2745           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
025952,004900: 32,2746           00004                           INHINT                                         #  (MAINLY FOR RROUT).
025953,004901: 32,2747           00006                           EXTEND                                         
025954,004902: 32,2750           12754                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
025955,004903: 
025956,004904: 32,2751           04616                           TC       BANKCALL                              
025957,004905: 32,2752           52317                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025958,004906: 32,2753           12772                           TCF      END29DOD                              
025959,004907: 
025960,004908: 32,2754           44742        R29LOKON           CS       DESIGBIT                              
025961,004909: 32,2755           70110                           MASK     RADMODES                              
025962,004910: 32,2756           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
025963,004911: 32,2757           44752                           CS       BIT2                                  
025964,004912: 32,2760           00006                           EXTEND                                         
025965,004913: 32,2761           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
025966,004914: 32,2762           34743                           CA       READRBIT                              
025967,004915: 32,2763           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
025968,004916: 32,2764           11055                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
025969,004917: 32,2765           44776                           CS       SUPER110                              #  -96D + 100D = 4.
025970,004918: 32,2766           64777                           AD       1SEC                                  #  0 + 100D = 100D.
025971,004919: 32,2767           05203                           TC       WAITLIST                              
025972,004920: 32,2770  E7,1456                                  EBANK=   LOSCOUNT                              
025973,004921: 32,2770           03401 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
025974,004922: 
025975,004923: 32,2772           44740        END29DOD           CS       LOSCMBIT                              
025976,004924: 32,2773           70076                           MASK     FLAGWRD2                              
025977,004925: 32,2774           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
025978,004926: 32,2775           15155                           TCF      ENDOFJOB                              
025979,004927: 
025980,004928: 32,2776           00052        R29FXLOC           ADRES    INTB15+    -34D                       
025981,004929: 32,2777           56655        RR29GAIN           DEC      -.53624                               
025982,004930: 32,3000  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
025983,004931: 32,3000     1100               LOSSM              EQUALS   RRTARGET                              
025984,004932: 32,3000  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
025985,004933: 

Page 610

025987,004935:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025988,004936: 
025989,004937: 24,3401                                           BANK     24                                    
025990,004938: 24,2000                                           SETLOC   P20S                                  
025991,004939: 24,2000                                           BANK                                           
025992,004940: 
025993,004941: 24,3401                                           COUNT*   $$/R29                                
025994,004942: 
025995,004943: 24,3401  E7,1456                                  EBANK=   LOSCOUNT                              
025996,004944: 
025997,004945: 24,3401           37717        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
025998,004946: 24,3402           05072                           TC       NOVAC                                 
025999,004947: 24,3403  E7,1456                                  EBANK=   LOSCOUNT                              
026000,004948: 24,3403           03414 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
026001,004949: 
026002,004950: 24,3405           35000                           CA       2SECS                                 
026003,004951: 24,3406           05224                           TC       VARDELAY                              
026004,004952: 
026005,004953: 24,3407           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
026006,004954: 24,3410           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
026007,004955: 24,3411           10000                           CCS      A                                     
026008,004956: 24,3412           13401                           TCF      R29READ                               #  IT'S OK;  CALL IT AGAIN.
026009,004957: 24,3413           15261                           TCF      TASKOVER                              #  IT AIN'T;  WAIT FOR REDESIGNATE.
026010,004958: 
026011,004959: 24,3414           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
026012,004960: 24,3415           74741                           MASK     NR29FBIT                              
026013,004961: 24,3416           10000                           CCS      A                                     #  TEST "NOR29FLG".
026014,004962: 24,3417           13501                           TCF      ENDR29RD                              #  R29 OVER, EXIT WITH RR STILL LOCKED ON
026015,004963: 24,3420           30110                           CA       RADMODES                              
026016,004964: 24,3421           74752                           MASK     AUTOMBIT                              
026017,004965: 24,3422           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
026018,004966: 24,3423           13476                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
026019,004967: 
026020,004968: 24,3424           04616                           TC       BANKCALL                              
026021,004969: 24,3425           53112                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
026022,004970: 24,3426           04616                           TC       BANKCALL                              
026023,004971: 24,3427           17705                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026024,004972: 24,3430           13476                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
026025,004973: 

Page 611

026027,004975:                                                                                                  #  R29 RADAR READING CONTINUED.
026028,004976: 
026029,004977: 24,3431           53105                           DXCH     TIMEHOLD                              
026030,004978: 24,3432           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
026031,004979: 24,3433           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
026032,004980: 24,3434           00006                           EXTEND                                         
026033,004981: 24,3435           30036                           DCA      CDUT                                  
026034,004982: 24,3436           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026035,004983: 24,3437           00006                           EXTEND                                         
026036,004984: 24,3440           30034                           DCA      CDUY                                  
026037,004985: 24,3441           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026038,004986: 24,3442           30032                           CA       CDUX                                  
026039,004987: 24,3443           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026040,004988: 
026041,004989: 24,3444           04616        R29RANGE           TC       BANKCALL                              
026042,004990: 24,3445           53114                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
026043,004991: 24,3446           04616                           TC       BANKCALL                              
026044,004992: 24,3447           17705                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026045,004993: 24,3450           13467                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
026046,004994: 
026047,004995: 24,3451           00004                           INHINT                                         
026048,004996: 24,3452           53331                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026049,004997: 24,3453           53757                           DXCH     RM                                    
026050,004998: 24,3454           52155                           DXCH     MPAC                                  
026051,004999: 24,3455           53755                           DXCH     MKTIME                                
026052,005000: 24,3456           52157                           DXCH     MPAC       +2                         
026053,005001: 24,3457           53753                           DXCH     TANGNB                                
026054,005002: 24,3460           52161                           DXCH     MPAC       +4                         
026055,005003: 24,3461           53460                           DXCH     AIG                                   
026056,005004: 24,3462           30162                           CA       MPAC       +6                         
026057,005005: 24,3463           55461                           TS       AOG                                   
026058,005006: 24,3464           34753                           CA       ONE                                   
026059,005007: 24,3465           55462                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
026060,005008: 24,3466           15155                           TCF      ENDOFJOB                              
026061,005009: 
026062,005010: 24,3467           40101        R29RRR?            CS       FLAGWRD5                              
026063,005011: 24,3470           74742                           MASK     BIT10                                 
026064,005012: 24,3471           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
026065,005013: 24,3472           13476                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
026066,005014: 24,3473           05516                           TC       DOWNFLAG                              
026067,005015: 24,3474           00120                           ADRES    RNGSCFLG                              
026068,005016: 24,3475           13444                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
026069,005017: 
026070,005018: 24,3476           44736        ENDRRD29           CS       BIT14                                 #  TROUBLE MADE US COME HERE TO LEAVE THE
026071,005019: 24,3477           00006                           EXTEND                                         #  RR-READING MODE.  DISCREDIT DOWNTEL
026072,005020: 24,3500           03012                           WAND     CHAN12                                
026073,005021: 24,3501           34755        ENDR29RD           CA       ZERO                                  
026074,005022: 24,3502           55462                           TS       TRKMKCNT                              
026075,005023: 24,3503           05516                           TC       DOWNFLAG                              
026076,005024: 

Page 612

026078,005026: 24,3504           00063                           ADRES    READRFLG                              
026079,005027: 24,3505           15155                           TCF      ENDOFJOB                              
026080,005028: 

Page 613

026082,005030:                                                                                                  #  W-MATRIX MONITOR
026083,005031: 
026084,005032: 31,2007                                           BANK     31                                    
026085,005033: 31,2000                                           SETLOC   VB67                                  
026086,005034: 31,2000                                           BANK                                           
026087,005035: 31,2007                                           COUNT*   $$/EXTVB                              
026088,005036: 
026089,005037: 31,2007  E4,1600                                  EBANK=   WWPOS                                 
026090,005038: 
026091,005039: 31,2007           06042        V67CALL            TC       INTPRET                               
026092,005040: 31,2010           77624                           CALL                                           
026093,005041: 31,2011           62120                                    V67WW                                 
026094,005042: 31,2012           77776                           EXIT                                           
026095,005043: 31,2013           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
026096,005044: 31,2014           31601                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
026097,005045: 31,2015           53607                           DXCH     WWBIAS     +2                         
026098,005046: 31,2016           00006                           EXTEND                                         
026099,005047: 31,2017           31603                           DCA      WWVEL                                 
026100,005048: 31,2020           53611                           DXCH     WWBIAS     +4                         
026101,005049: 31,2021           00006                           EXTEND                                         
026102,005050: 31,2022           31605                           DCA      WWBIAS                                
026103,005051: 31,2023           53613                           DXCH     WWBIAS     +6                         
026104,005052: 31,2024           32143        V06N99DS           CAF      V06N99                                
026105,005053: 31,2025           04616                           TC       BANKCALL                              
026106,005054: 31,2026           20334                           CADR     GOXDSPF                               
026107,005055: 31,2027           15472                           TCF      ENDEXT                                
026108,005056: 31,2030           12032                           TCF      V6N99PRO                              
026109,005057: 31,2031           12024                           TCF      V06N99DS                              
026110,005058: 31,2032           22007        V6N99PRO           ZL                                             
026111,005059: 31,2033           34756                           CA       FIVE                                  
026112,005060: 31,2034           54002        N99LOOP            TS       Q                                     
026113,005061: 31,2035           50002                           INDEX    Q                                     
026114,005062: 31,2036           41600                           CS       WWPOS                                 
026115,005063: 31,2037           50002                           INDEX    Q                                     
026116,005064: 31,2040           61606                           AD       WWPOS      +6                         
026117,005065: 31,2041           26001                           ADS      L                                     
026118,005066: 31,2042           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026119,005067: 31,2043           12034                           TCF      N99LOOP                               
026120,005068: 31,2044           22000                           LXCH     A                                     
026121,005069: 31,2045           00006                           EXTEND                                         
026122,005070: 31,2046           12051                           BZF      V06N9933                              
026123,005071: 31,2047           05504                           TC       UPFLAG                                
026124,005072: 31,2050           00160                           ADRES    V67FLAG                               
026125,005073: 
026126,005074: 31,2051           06042        V06N9933           TC       INTPRET                               
026127,005075: 31,2052           77414                           BON      EXIT                                  
026128,005076: 31,2053           03707                                    V67FLAG                               
026129,005077: 31,2054           62056                                    +2                                    
026130,005078: 31,2055           15472                           TCF      ENDEXT                                
026131,005079: 31,2056           77745                           DLOAD                                          

Page 614

026133,005081: 31,2057           02201                                    WWPOS                                 
026134,005082: 31,2060           72412                           SL4      SL1                                   
026135,005083: 31,2061           14001                           STODL    0D                                    
026136,005084: 31,2062           02203                                    WWVEL                                 
026137,005085: 31,2063           14003                           STODL    2D                                    
026138,005086: 31,2064           02205                                    WWBIAS                                
026139,005087: 31,2065           77661                           SL                                             #  SHIFT FROM NOUN SCALING (B-5) TO
026140,005088: 31,2066           20213                                    10D                                   #  INTERNAL SCALING (B+5)
026141,005089: 31,2067           00005                           STORE    4D                                    
026142,005090: 31,2070           72014                           BON      LXA,1                                 
026143,005091: 31,2071           04307                                    SURFFLAG                              
026144,005092: 31,2072           62102                                    V67SURF                               
026145,005093: 31,2073           00000                                    0D                                    
026146,005094: 31,2074           72130                           SXA,1    LXA,1                                 
026147,005095: 31,2075           02000                                    WRENDPOS                              
026148,005096: 31,2076           00002                                    2D                                    
026149,005097: 31,2077           52130                           SXA,1    GOTO                                  
026150,005098: 31,2100           02001                                    WRENDVEL                              
026151,005099: 31,2101           62110                                    V67CLRF                               
026152,005100: 31,2102           66150        V67SURF            LXA,1    SXA,1                                 
026153,005101: 31,2103           00000                                    0D                                    
026154,005102: 31,2104           02006                                    WSURFPOS                              
026155,005103: 31,2105           66150                           LXA,1    SXA,1                                 
026156,005104: 31,2106           00002                                    2D                                    
026157,005105: 31,2107           02007                                    WSURFVEL                              
026158,005106: 31,2110           66150        V67CLRF            LXA,1    SXA,1                                 
026159,005107: 31,2111           00004                                    4D                                    
026160,005108: 31,2112           02003                                    WTRUN                                 
026161,005109: 31,2113           77730                           SXA,1                                          
026162,005110: 31,2114           02002                                    WSHAFT                                
026163,005111: 31,2115           77414                           CLEAR    EXIT                                  
026164,005112: 31,2116           02676                                    RENDWFLG                              
026165,005113: 31,2117           15472                           TCF      ENDEXT                                
026166,005114: 31,2120           40020        V67WW              STQ      BOV                                   
026167,005115: 31,2121           00051                                    S2                                    
026168,005116: 31,2122           62123                                    +1                                    
026169,005117: 31,2123           45014                           CLEAR    CALL                                  
026170,005118: 31,2124           03667                                    V67FLAG                               
026171,005119: 31,2125           27410                                    INTSTALL                              
026172,005120: 31,2126           71331                           SSP      DLOAD                                 
026173,005121: 31,2127           00051                                    S1                                    
026174,005122: 31,2130           00006                           DEC      6          B-14                       
026175,005123: 31,2131           06524                                    ZEROVECS                              
026176,005124: 31,2132           02201                           STORE    WWPOS                                 
026177,005125: 31,2133           02203                           STORE    WWVEL                                 
026178,005126: 31,2134           02205                           STORE    WWBIAS                                
026179,005127: 31,2135           77770                           AXT,1                                          
026180,005128: 31,2136           00066                           DEC      54         B-14                       
026181,005129: 31,2137           47573        NXPOSVEL           VLOAD*   VSQ                                   
026182,005130: 31,2140           02467                                    W          +54D,1                     

Page 615

026184,005132: 31,2141           77650                           GOTO                                           
026185,005133: 31,2142           60002                                    ADDPOS                                
026186,005134: 31,2143           01543        V06N99             VN       0699                                  
026187,005135: 
026188,005136: 30,2000                                           SETLOC   VB67A                                 
026189,005137: 30,2000                                           BANK                                           
026190,005138: 30,2002                                           COUNT*   $$/EXTVB                              
026191,005139: 
026192,005140: 30,2002           77615        ADDPOS             DAD                                            
026193,005141: 30,2003           02201                                    WWPOS                                 
026194,005142: 30,2004           02201                           STORE    WWPOS                                 
026195,005143: 30,2005           47573                           VLOAD*   VSQ                                   
026196,005144: 30,2006           02555                                    W          +108D,1                    
026197,005145: 30,2007           77615                           DAD                                            
026198,005146: 30,2010           02203                                    WWVEL                                 
026199,005147: 30,2011           02203                           STORE    WWVEL                                 
026200,005148: 30,2012           47573                           VLOAD*   VSQ                                   
026201,005149: 30,2013           02643                                    W          +162D,1                    
026202,005150: 30,2014           77615                           DAD                                            
026203,005151: 30,2015           02205                                    WWBIAS                                
026204,005152: 30,2016           02205                           STORE    WWBIAS                                
026205,005153: 30,2017           75500                           TIX,1    SQRT                                  
026206,005154: 30,2020           62137                                    NXPOSVEL                              
026207,005155: 30,2021           77661                           SR                                             #  SHIFT FROM INTERNAL SCALING (B+5) TO
026208,005156: 30,2022           20613                                    10D                                   #  NOUN SCALING (B-5)
026209,005157: 30,2023           16205                           STODL    WWBIAS                                
026210,005158: 30,2024           02203                                    WWVEL                                 
026211,005159: 30,2025           77766                           SQRT                                           
026212,005160: 30,2026           16203                           STODL    WWVEL                                 
026213,005161: 30,2027           02201                                    WWPOS                                 
026214,005162: 30,2030           77766                           SQRT                                           
026215,005163: 30,2031           02201                           STORE    WWPOS                                 
026216,005164: 30,2032           52000                           BOV      GOTO                                  
026217,005165: 30,2033           60035                                    +2                                    
026218,005166: 30,2034           60042                                    V67XXX                                
026219,005167: 30,2035           77745                           DLOAD                                          
026220,005168: 30,2036           06532                                    DPPOSMAX                              
026221,005169: 30,2037           02201                           STORE    WWPOS                                 
026222,005170: 30,2040           02203                           STORE    WWVEL                                 
026223,005171: 30,2041           02205                           STORE    WWBIAS                                
026224,005172: 30,2042           45345        V67XXX             DLOAD    DSU                                   
026225,005173: 30,2043           02201                                    WWPOS                                 
026226,005174: 30,2044           20060                                    FT99999                               
026227,005175: 30,2045           71240                           BMN      DLOAD                                 
026228,005176: 30,2046           60051                                    +3                                    
026229,005177: 30,2047           20060                                    FT99999                               
026230,005178: 30,2050           02201                           STORE    WWPOS                                 
026231,005179: 30,2051           66150                           LXA,1    SXA,1                                 
026232,005180: 30,2052           00051                                    S2                                    
026233,005181: 30,2053           00052                                    QPRET                                 

Page 616

026235,005183: 30,2054           77776                           EXIT                                           
026236,005184: 30,2055           04635                           TC       POSTJUMP                              
026237,005185: 30,2056           27421                           CADR     INTWAKE                               
026238,005186: 
026239,005187: 30,2057           01670 17000  FT99999            2DEC     30479      B-19                       
026240,005188: 

Page 617

026242,005190: 25,3612                                           BANK     25                                    
026243,005191: 25,2000                                           SETLOC   RADARUPT                              
026244,005192: 25,2000                                           BANK                                           
026245,005193: 25,3612                                           COUNT*   $$/RRUPT                              
026246,005194: 
026247,005195: 25,3612  E7,1456                                  EBANK=   LOSCOUNT                              
026248,005196: 
026249,005197: 25,3612           44747        RADLITES           CS       BIT5                                  
026250,005198: 25,3613           60061                           AD       ITEMP1                                
026251,005199: 25,3614           10000                           CCS      A                                     
026252,005200: 25,3615           44753                           CS       ONE                                   
026253,005201: 25,3616           13646                           TCF      VLIGHT                                
026254,005202: 
026255,005203: 25,3617           14570                           TCF      RRTRKF                                
026256,005204: 
026257,005205: 25,3620           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
026258,005206: 
026259,005207: 25,3621           34747                           CA       HLITE                                 
026260,005208: 25,3622           54001                           TS       L                                     
026261,005209: 
026262,005210: 25,3623           34747                           CA       LRALTBIT                              
026263,005211: 25,3624           70110        BOTHLITS           MASK     RADMODES                              
026264,005212: 25,3625           10000                           CCS      A                                     
026265,005213: 25,3626           13640                           TCF      ONLITES                               
026266,005214: 
026267,005215: 25,3627           30107                           CA       FLGWRD11                              
026268,005216: 25,3630           50065                           INDEX    ITEMP5                                
026269,005217: 25,3631           74753                           MASK     HFLSHBIT                              
026270,005218: 25,3632           10000                           CCS      A                                     
026271,005219: 25,3633           14570                           TCF      RRTRKF                                
026272,005220: 
026273,005221: 25,3634           00006        LITIT              EXTEND                                         
026274,005222: 25,3635           22066                           QXCH     ITEMP6                                
026275,005223: 25,3636           04602                           TC       TRKFLON    +1                         
026276,005224: 
026277,005225: 25,3637           00066                           TC       ITEMP6                                
026278,005226: 
026279,005227: 25,3640           50065        ONLITES            INDEX    ITEMP5                                
026280,005228: 25,3641           44753                           CS       HFLSHBIT                              
026281,005229: 25,3642           70107                           MASK     FLGWRD11                              
026282,005230: 25,3643           54107                           TS       FLGWRD11                              
026283,005231: 
026284,005232: 25,3644           30001                           CA       L                                     
026285,005233: 25,3645           13634                           TCF      LITIT                                 
026286,005234: 25,3646           54065        VLIGHT             TS       ITEMP5                                
026287,005235: 25,3647           34751                           CA       VLITE                                 
026288,005236: 25,3650           54001                           TS       L                                     
026289,005237: 25,3651           34744                           CA       BIT8                                  
026290,005238: 25,3652           13624                           TCF      BOTHLITS                              
026291,005239: 

Page 618

026293,005241: 25,3653     4747               HLITE              EQUALS   BIT5                                  
026294,005242: 25,3653     4751               VLITE              EQUALS   BIT3                                  
026295,005243: 

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