Source Code

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

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

021196,000002:                                                                                                  ## Copyright:   Public domain.
021197,000003:                                                                                                  ## Filename:    P20-P25.agc
021198,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
021199,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
021200,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
021201,000007:                                                                                                  ## Assembler:   yaYUL
021202,000008:                                                                                                  ## Contact:     Onno Hommes <ohommes@cmu.edu>.
021203,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
021204,000010:                                                                                                  ## Pages:       0492-0613
021205,000011:                                                                                                  ## Mod history: 2009-05-26 OH   Transcribed from page images.
021206,000012:                                                                                                  ##              2009-06-05 RSB  Corrected a typos.
021207,000013:                                                                                                  ##              2009-06-06 RSB  Added a missing instruction, and a block
021208,000014:                                                                                                  ##                              of 3 missing instructions.
021209,000015:                                                                                                  ##              2009-06-07 RSB  Fixed a misprint.
021210,000016:                                                                                                  ##              2009-06-07 RSB  Changed the construct "2DEC E-6 B12" 
021211,000017:                                                                                                  ##                              (which isn't legal in yaYUL) to
021212,000018:                                                                                                  ##                              "2DEC 1.0 E-6 B12".
021213,000019:                                                                                                  ##              2011-05-07 JL   Removed workarounds.
021214,000020:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
021215,000021:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
021216,000022:                                                                                                  ##                              and corrected the errors found.
021217,000023:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
021218,000024:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
021219,000025:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
021220,000026:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
021221,000027: 
021222,000028:                                                                                                  ## This source code has been transcribed or otherwise adapted from
021223,000029:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
021224,000030:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
021225,000031:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
021226,000032:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
021227,000033:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
021228,000034:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
021229,000035:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
021230,000036:                                                                                                  ## actually created.
021231,000037:                                                                                                  ##
021232,000038:                                                                                                  ## Notations on the hardcopy document read, in part:
021233,000039:                                                                                                  ##
021234,000040:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
021235,000041:                                                                                                  ##      16:27 JULY 14, 1969 
021236,000042: 

Page 492

021238,000044:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
021239,000045: 
021240,000046:                                                                                                  #  PROGRAM DESCRIPTION
021241,000047: 
021242,000048:                                                                                                  #        MOD NO - 2
021243,000049:                                                                                                  #        BY P. VOLANTE
021244,000050: 
021245,000051:                                                                                                  #  FUNCTIONAL DESCRIPTION
021246,000052: 
021247,000053:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021248,000054:                                                                                                  #        STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER 
021249,000055:                                                                                                  #        THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021250,000056:                                                                                                  #        ON THE BASIS OF THE RR TRACKING DATA.
021251,000057: 
021252,000058:                                                                                                  #  CALLING SEQUENCE -
021253,000059: 
021254,000060:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E20E
021255,000061: 
021256,000062:                                                                                                  #  SUBROUTINES CALLED
021257,000063: 
021258,000064:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      FLAGUP
021259,000065:                                                                                                  #        GOFLASH (PINBALL-DISPLAY)                       FLAGDOWN
021260,000066:                                                                                                  #        R23LEM  (MANUAL ACQUISITION)                    BANKCALL
021261,000067:                                                                                                  #        LS201   (LOS DETERMINATION)                     TASKOVER
021262,000068:                                                                                                  #        LS202   (RANGE LIMIT TEST)
021263,000069:                                                                                                  #        R61LEM  (PREFERRED TRACKING ATTITUDE)
021264,000070:                                                                                                  #        R21LEM  (RR DESIGNATE)                          ENDOFJOB
021265,000071:                                                                                                  #        R22LEM  (DATA READ)                             GOPERF1
021266,000072:                                                                                                  #        R31LEM  (RENDEZVOUS PARAMETER DISPLAY)  
021267,000073:                                                                                                  #        PRIOLARM (PRIORITY DISPLAY)
021268,000074: 
021269,000075:                                                                                                  #  NORMAL EXIT MODES -
021270,000076: 
021271,000077:                                                                                                  #        P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021272,000078:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021273,000079: 
021274,000080:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021275,000081: 
021276,000082:                                                                                                  #        RANGE GREATER THAN 400 NM DISPLAY
021277,000083: 
021278,000084:                                                                                                  #  OUTPUT
021279,000085: 
021280,000086:                                                                                                  #        TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021281,000087: 
021282,000088:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021283,000089: 
021284,000090:                                                                                                  #  FLAGS SET + RESET
021285,000091: 
021286,000092:                                                                                                  #        SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021287,000093: 
021288,000094:                                                                                                  #  DEBRIS
021289,000095: 
021290,000096:                                                                                                  #        CENTRALS - A,Q,L
021291,000097: 
021292,000098: 25,2062  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
021293,000099: 
021294,000100: 33,2045                                           BANK     33                                    
021295,000101: 24,2000                                           SETLOC   P20S                                  
021296,000102: 24,2000                                           BANK                                           
021297,000103: 
021298,000104: 24,2000  E7,1456                                  EBANK=   LOSCOUNT                              
021299,000105: 24,2000                                           COUNT*   $$/P20                                
021300,000106: 24,2000  24,2000               PROG22             =        PROG20                                
021301,000107: 24,2000           05327        PROG20             TC       2PHSCHNG                              
021302,000108: 24,2001           00004                           OCT      4                                     
021303,000109: 24,2002           05022                           OCT      05022                                 
021304,000110: 24,2003           26000                           OCT      26000                                 #  PRIORITY 26
021305,000111: 24,2004           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE

Page 493

021307,000113: 24,2005           02007                           TC       ORBCHGO                               #  YES
021308,000114: 24,2006           02036                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
021309,000115: 24,2007           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
021310,000116: 24,2010           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
021311,000117: 24,2011           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
021312,000118: 24,2012           55145                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
021313,000119: 24,2013           32311                           CAF      OCT00012                              
021314,000120: 24,2014           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
021315,000121: 24,2015           20633                           CADR     GOPERF4                               
021316,000122: 24,2016           06001                           TC       GOTOPOOH                              #  TERMINATE
021317,000123: 24,2017           02021                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
021318,000124: 24,2020           02013                           TC       -5                                    #  R2 LOADED THRU DSKY
021319,000125: 24,2021           42312        ORBCHG1            CS       P22ONE                                
021320,000126: 24,2022           61145                           AD       OPTION2                               
021321,000127: 24,2023           00006                           EXTEND                                         
021322,000128: 24,2024           12040                           BZF      PROG20A                               
021323,000129: 24,2025           32315                           CAF      V06N33*                               
021324,000130: 24,2026           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
021325,000131: 24,2027           20476                           CADR     GOFLASH                               #  TIME OF LAUNCH
021326,000132: 24,2030           06001                           TC       GOTOPOOH                              #  TERMINATE
021327,000133: 24,2031           02033                           TC       ORBCHG2                               #  PROCEED VALUES OK
021328,000134: 24,2032           02025                           TC       -5                                    #  TIME LOADED THRU DSKY
021329,000135: 24,2033           06037        ORBCHG2            TC       INTPRET                               
021330,000136: 24,2034           77650                           GOTO                                           
021331,000137: 24,2035           64217                                    ORBCHG3                               
021332,000138: 32,2217                                           BANK     32                                    
021333,000139: 32,2000                                           SETLOC   P20S4                                 
021334,000140: 32,2000                                           BANK                                           
021335,000141: 32,2217                                           COUNT*   $$/P20                                
021336,000142: 
021337,000143: 32,2217           77624        ORBCHG3            CALL                                           
021338,000144: 32,2220           27414                                    INTSTALL                              
021339,000145: 32,2221           77745                           DLOAD                                          
021340,000146: 32,2222           03442                                    TIG                                   
021341,000147: 32,2223           03661                           STORE    LNCHTM                                
021342,000148: 32,2224           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
021343,000149: 32,2225           43014                           CLEAR    CLEAR                                 
021344,000150: 32,2226           01674                                    VINTFLAG                              #  LM INTEGRATION
021345,000151: 32,2227           01673                                    INTYPFLG                              #  PRECISION - ENCKE
021346,000152: 32,2230           43014                           CLEAR    CLEAR                                 
021347,000153: 32,2231           01676                                    DIM0FLAG                              #  NO W-MATRIX
021348,000154: 32,2232           01675                                    D6OR9FLG                              
021349,000155: 32,2233           77624                           CALL                                           
021350,000156: 32,2234           27134                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
021351,000157: 32,2235           77624                           CALL                                           
021352,000158: 32,2236           11244                                    GRP2PC                                
021353,000159: 32,2237           77775                           VLOAD                                          
021354,000160: 32,2240           00017                                    RATT1                                 
021355,000161: 32,2241           17631                           STODL    RSUBL                                 #  SAVE LM POSITION
021356,000162: 32,2242           00015                                    TAT                                   

Page 494

021358,000164: 32,2243           34041                           STCALL   TDEC1                                 
021359,000165: 32,2244           27414                                    INTSTALL                              
021360,000166: 32,2245           43014                           SET      CLEAR                                 
021361,000167: 32,2246           01474                                    VINTFLAG                              #  CSM INTEGRATION
021362,000168: 32,2247           01673                                    INTYPFLG                              
021363,000169: 32,2250           43014                           CLEAR    BOFF                                  
021364,000170: 32,2251           01676                                    DIM0FLAG                              
021365,000171: 32,2252           02756                                    RENDWFLG                              #  W MATRIX VALID
021366,000172: 32,2253           64257                                    NOWMATX                               #  NO
021367,000173: 32,2254           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
021368,000174: 32,2255           01476                                    DIM0FLAG                              
021369,000175: 32,2256           01475                                    D6OR9FLG                              
021370,000176: 32,2257           77624        NOWMATX            CALL                                           
021371,000177: 32,2260           27134                                    INTEGRV                               #  CSM INTEGRATION
021372,000178: 32,2261           77624                           CALL                                           
021373,000179: 32,2262           11244                                    GRP2PC                                
021374,000180: 32,2263           77775                           VLOAD                                          
021375,000181: 32,2264           00025                                    VATT1                                 
021376,000182: 32,2265           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
021377,000183: 32,2266           00017                                    RATT1                                 
021378,000184: 32,2267           01102                           STORE    RSUBC                                 #  SAVE CSM POSITION
021379,000185: 32,2270           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021380,000186: 32,2271           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
021381,000187: 32,2272           24025                           STOVL    20D                                   #  SAVE NSUB1
021382,000188: 32,2273           03631                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
021383,000189: 32,2274           53435                           VXV      UNIT                                  #  PLANE CHANGE
021384,000190: 32,2275           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
021385,000191: 32,2276           27637                           STOVL    UCSM                                  
021386,000192: 32,2277           01102                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
021387,000193: 32,2300           50256                           UNIT     DOT                                   #  AND RSUBC
021388,000194: 32,2301           03637                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
021389,000195: 32,2302           77752                           SL1                                            
021390,000196: 32,2303           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
021391,000197: 32,2304           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
021392,000198: 32,2305           10314                                    ONEB-2                                
021393,000199: 32,2306           77766                           SQRT                                           
021394,000200: 32,2307           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
021395,000201: 32,2310           01102                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
021396,000202: 32,2311           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
021397,000203: 32,2312           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
021398,000204: 32,2313           77676                           VCOMP                                          
021399,000205: 32,2314           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
021400,000206: 32,2315           45014                           CLEAR    CALL                                  
021401,000207: 32,2316           03666                                    RVSW                                  
021402,000208: 32,2317           24732                                    TIMETHET                              
021403,000209: 32,2320           77676                           VCOMP                                          
021404,000210: 32,2321           03645                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
021405,000211: 32,2322           77745                           DLOAD                                          
021406,000212: 32,2323           00037                                    T                                     
021407,000213: 32,2324           27663                           STOVL    TRANSTM                               #  TRANSFER TIME

Page 495

021409,000215: 32,2325           03645                                    NEWVEL                                
021410,000216: 32,2326           77646                           ABVAL                                          
021411,000217: 32,2327           24025                           STOVL    20D                                   
021412,000218: 32,2330           00001                                    0D                                    
021413,000219: 32,2331           03653                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
021414,000220: 32,2332           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
021415,000221: 32,2333           03631                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
021416,000222: 32,2334           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
021417,000223: 32,2335           03653                                    NEWPOS                                #  ORBITAL PLANE
021418,000224: 32,2336           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
021419,000225: 32,2337           00025                                    20D                                   
021420,000226: 32,2340           37665                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
021421,000227: 32,2341           11244                                    GRP2PC                                
021422,000228: 32,2342           77624                           CALL                                           
021423,000229: 32,2343           27414                                    INTSTALL                              
021424,000230: 32,2344           44345                           DLOAD    BDSU                                  
021425,000231: 32,2345           03663                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
021426,000232: 32,2346           03661                                    LNCHTM                                
021427,000233: 32,2347           25517                           STOVL    TET                                   
021428,000234: 32,2350           03653                                    NEWPOS                                
021429,000235: 32,2351           01535                           STORE    RCV                                   
021430,000236: 32,2352           25503                           STOVL    RRECT                                 
021431,000237: 32,2353           03665                                    NCSMVEL                               
021432,000238: 32,2354           35511                           STCALL   VRECT                                 
021433,000239: 32,2355           23455                                    MINIRECT                              
021434,000240: 32,2356           45174                           AXT,2    CALL                                  
021435,000241: 32,2357           00002                                    2                                     
021436,000242: 32,2360           26661                                    ATOPCSM                               
021437,000243: 32,2361           77624                           CALL                                           
021438,000244: 32,2362           27423                                    INTWAKE0                              
021439,000245: 32,2363           77776                           EXIT                                           
021440,000246: 32,2364           04616                           TC       BANKCALL                              
021441,000247: 32,2365           50040                           CADR     PROG20A                               
021442,000248: 
021443,000249: 24,2036                                           BANK     24                                    
021444,000250: 24,2000                                           SETLOC   P20S                                  
021445,000251: 24,2000                                           BANK                                           
021446,000252: 24,2036                                           COUNT*   $$/P20                                
021447,000253: 
021448,000254: 24,2036           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG - LM STATE VECTOR
021449,000255: 24,2037           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
021450,000256: 24,2040           04616        PROG20A            TC       BANKCALL                              
021451,000257: 24,2041           11254                           CADR     R02BOTH                               
021452,000258: 24,2042           05504                           TC       UPFLAG                                
021453,000259: 24,2043           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
021454,000260: 24,2044           05504                           TC       UPFLAG                                
021455,000261: 24,2045           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021456,000262: 24,2046           05504                           TC       UPFLAG                                
021457,000263: 24,2047           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
021458,000264: 24,2050           05516                           TC       DOWNFLAG                              
021459,000265: 24,2051           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF

Page 496

021461,000267: 24,2052           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
021462,000268: 24,2053           00040                           ADRES    ACMODFLG                              
021463,000269: 24,2054           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
021464,000270: 24,2055           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
021465,000271: 24,2056           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
021466,000272: 24,2057           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
021467,000273: 24,2060           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
021468,000274: 24,2061           00041                           ADRES    LOSCMFLG                              
021469,000275: 24,2062           06011                           TC       CLRADMOD                              
021470,000276: 24,2063           05353        P20LEM1            TC       PHASCHNG                              
021471,000277: 24,2064           04022                           OCT      04022                                 
021472,000278: 24,2065           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
021473,000279: 24,2066           55462                           TS       MARKCTR                               
021474,000280: 24,2067           06037                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
021475,000281: 24,2070           77634                           RTB                                            
021476,000282: 24,2071           21573                                    LOADTIME                              
021477,000283: 24,2072           34041                           STCALL   TDEC1                                 
021478,000284: 24,2073           51255                                    LPS20.1                               
021479,000285: 24,2074           77624                           CALL                                           
021480,000286: 24,2075           53565                                    LPS20.2                               #  TEST RANGE R/UTINE
021481,000287: 24,2076           77776                           EXIT                                           
021482,000288: 24,2077           50154                           INDEX    MPAC                                  
021483,000289: 24,2100           02101                           TC       +1                                    
021484,000290: 24,2101           02111                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
021485,000291: 24,2102           32305        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
021486,000292: 24,2103           04616                           TC       BANKCALL                              
021487,000293: 24,2104           21562                           CADR     PRIOLARM                              
021488,000294: 24,2105           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021489,000295: 24,2106           02102                           TC       -4                                    #  PROC (ILLEGAL
021490,000296: 24,2107           02063                           TC       P20LEM1                               #  ENTER RECYCLE
021491,000297: 24,2110           05155                           TC       ENDOFJOB                              
021492,000298: 
021493,000299: 24,2111           05353        P20LEMA            TC       PHASCHNG                              
021494,000300: 24,2112           04022                           OCT      04022                                 
021495,000301: 24,2113           02667                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
021496,000302: 24,2114           02117                           TC       P20LEMB                               
021497,000303: 24,2115           04616                           TC       BANKCALL                              
021498,000304: 24,2116           46116                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
021499,000305: 24,2117           05353        P20LEMB            TC       PHASCHNG                              
021500,000306: 24,2120           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
021501,000307: 24,2121           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
021502,000308: 24,2122           37714                           CAF      PRIO26                                #  RESTORE PRIORITY 26
021503,000309: 24,2123           05146                           TC       PRIOCHNG                              
021504,000310: 24,2124           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
021505,000311: 24,2125           74747                           MASK     TRACKBIT                              
021506,000312: 24,2126           00006                           EXTEND                                         
021507,000313: 24,2127           12232                           BZF      P20LEMWT                              #  BRANCH - NO - WAIT FOR IT TO BE SET
021508,000314: 24,2130           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
021509,000315: 24,2131           00006                           EXTEND                                         

Page 497

021511,000317: 24,2132           02033                           RAND     CHAN33                                
021512,000318: 24,2133           00006                           EXTEND                                         
021513,000319: 24,2134           12170                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
021514,000320: 
021515,000321: 24,2135           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
021516,000322: 24,2136           61011                           AD       MODREG                                #  MAJOR MODE IS 20
021517,000323: 24,2137           00006                           EXTEND                                         
021518,000324: 24,2140           12153                           BZF      P20LEMB6                              #  BRANCH - YES - OK TO DO PLEASE PERFORM
021519,000325: 
021520,000326: 24,2141           67746                           AD       NEG2                                  #  ALSO CHECK FOR P22
021521,000327: 24,2142           00006                           EXTEND                                         
021522,000328: 24,2143           12153                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
021523,000329: 24,2144           32307                           CAF      ALRM514                               #  TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021524,000330: 24,2145           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
021525,000331: 24,2146           21562                           CADR     PRIOLARM                              
021526,000332: 24,2147           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
021527,000333: 24,2150           02117                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
021528,000334: 24,2151           02117                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
021529,000335: 24,2152           05155                           TC       ENDOFJOB                              
021530,000336: 24,2153           32306        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
021531,000337: 24,2154           04616                           TC       BANKCALL                              
021532,000338: 24,2155           20623                           CADR     GOPERF1                               
021533,000339: 24,2156           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021534,000340: 24,2157           02117                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021535,000341: 24,2160           02667                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
021536,000342: 24,2161           02166                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021537,000343: 24,2162           03135                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
021538,000344: 
021539,000345: 24,2163           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
021540,000346: 24,2164           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
021541,000347: 24,2165           02117                           TC       P20LEMB                               #  RR AUTO MODE
021542,000348: 
021543,000349: 24,2166           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
021544,000350: 24,2167           02117                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
021545,000351: 
021546,000352: 24,2170           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021547,000353: 24,2171           74737                           MASK     RCDU0BIT                              
021548,000354: 24,2172           00006                           EXTEND                                         
021549,000355: 24,2173           12205                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
021550,000356: 24,2174           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
021551,000357: 24,2175           70076                           MASK     FLAGWRD2                              
021552,000358: 24,2176           00006                           EXTEND                                         
021553,000359: 24,2177           12211                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
021554,000360: 24,2200           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
021555,000361: 24,2201           00037                           ADRES    SRCHOPTN                              

Page 498

021557,000363: 24,2202           05516                           TC       DOWNFLAG                              
021558,000364: 24,2203           00040                           ADRES    ACMODFLG                              
021559,000365: 24,2204           02232                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021560,000366: 
021561,000367: 24,2205           32304        P20LEMB4           CAF      250DEC                                
021562,000368: 24,2206           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021563,000369: 24,2207           01735                           CADR     DELAYJOB                              #  ZEROED - THEN GO BACK AND CHECK AGAIN
021564,000370: 24,2210           02170                           TC       P20LEMB3                              
021565,000371: 
021566,000372: 24,2211           06037        P20LEMC3           TC       INTPRET                               
021567,000373: 24,2212           77634                           RTB                                            
021568,000374: 24,2213           21573                                    LOADTIME                              
021569,000375: 24,2214           34041                           STCALL   TDEC1                                 
021570,000376: 24,2215           50316                                    UPPSV                                 
021571,000377: 24,2216           77776        P20LEMC4           EXIT                                           
021572,000378: 24,2217           05353        P20LEMC            TC       PHASCHNG                              
021573,000379: 24,2220           04022                           OCT      04022                                 
021574,000380: 24,2221           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
021575,000381: 24,2222           74745                           MASK     RNDVZBIT                              
021576,000382: 24,2223           00006                           EXTEND                                         
021577,000383: 24,2224           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
021578,000384: 24,2225           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021579,000385: 24,2226           74747                           MASK     TRACKBIT                              
021580,000386: 24,2227           00006                           EXTEND                                         
021581,000387: 24,2230           12264                           BZF      P20LEMD                               #  BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021582,000388: 24,2231           02674        P20LEMF            TC       R21LEM                                
021583,000389: 
021584,000390: 24,2232           32304        P20LEMWT           CAF      250DEC                                
021585,000391: 24,2233           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
021586,000392: 24,2234           02244                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
021587,000393: 24,2235           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021588,000394: 24,2236           74747                           MASK     TRACKBIT                              
021589,000395: 24,2237           00006                           EXTEND                                         
021590,000396: 24,2240           15155                           BZF      ENDOFJOB                              #  NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021591,000397: 24,2241           05353        P20LMWT1           TC       PHASCHNG                              
021592,000398: 24,2242           40072                           OCT      40072                                 
021593,000399: 24,2243           05155                           TC       ENDOFJOB                              
021594,000400: 
021595,000401: 24,2244           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
021596,000402: 24,2245           74745                           MASK     RNDVZBIT                              
021597,000403: 24,2246           00006                           EXTEND                                         
021598,000404: 24,2247           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
021599,000405: 24,2250           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021600,000406: 24,2251           74747                           MASK     TRACKBIT                              
021601,000407: 24,2252           00006                           EXTEND                                         
021602,000408: 24,2253           12261                           BZF      P20LEMC2                              #  NO - DONT SCHEDULE R22 JOB

Page 499

021604,000410: 24,2254           37714                           CAF      PRIO26                                #  YES - SCHEDULE R22 JOB (RR DATA READ)
021605,000411: 24,2255           05105                           TC       FINDVAC                               
021606,000412: 24,2256  E7,1456                                  EBANK=   LOSCOUNT                              
021607,000413: 24,2256           02627 50067                     2CADR    R22LEM42                              
021608,000414: 
021609,000415: 24,2260           05261                           TC       TASKOVER                              
021610,000416: 
021611,000417: 24,2261           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET, WAIT 15 SECONDS
021612,000418: 24,2262           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
021613,000419: 
021614,000420: 24,2263           02244                           TC       P20LEMC1                              
021615,000421: 
021616,000422: 24,2264           32666        P20LEMD            CAF      1500DEC                               
021617,000423: 24,2265           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
021618,000424: 24,2266           02270                           ADRES    P20LEMD1                              
021619,000425: 24,2267           05155                           TC       ENDOFJOB                              
021620,000426: 
021621,000427: 24,2270           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021622,000428: 24,2271           74747                           MASK     TRACKBIT                              
021623,000429: 24,2272           10000                           CCS      A                                     
021624,000430: 24,2273           12277                           TCF      P20LEMD2                              #  YES - SCHEDULE DESIGNATE JOB
021625,000431: 24,2274           05221                           TC       FIXDELAY                              #  NO - WAIT 15 SECONDS
021626,000432: 24,2275           02734                           DEC      1500       B-14                       
021627,000433: 24,2276           02270                           TC       P20LEMD1                              
021628,000434: 
021629,000435: 24,2277           37714        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
021630,000436: 24,2300           05105                           TC       FINDVAC                               
021631,000437: 24,2301  E7,1456                                  EBANK=   LOSCOUNT                              
021632,000438: 24,2301           02211 50067                     2CADR    P20LEMC3                              #  START AT PERM.  MEMORY INTEGRATION
021633,000439: 
021634,000440: 24,2303           05261                           TC       TASKOVER                              
021635,000441: 
021636,000442: 24,2304           00372        250DEC             DEC      250        B-14                       
021637,000443: 24,2305           00526        ALRM526            OCT      00526                                 
021638,000444: 24,2306           00201        OCT201             OCT      00201                                 
021639,000445: 24,2307           00514        ALRM514            OCT      514                                   
021640,000446: 24,2310           00074        MAXTRIES           DEC      60         B-14                       
021641,000447: 24,2311           00012        OCT00012           OCT      00012                                 
021642,000448: 24,2312           00001        P22ONE             OCT      00001                                 
021643,000449: 24,2313           10000 00000  ONEB-2             2DEC     1.0        B-2                        
021644,000450: 
021645,000451: 24,2315           01441        V06N33*            VN       0633                                  
021646,000452: 24,2316           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
021647,000453: 24,2317           01757                                    LS21X                                 #        TO PRESENT TIME
021648,000454: 24,2320           27414                                    INTSTALL                              
021649,000455: 24,2321           77624                           CALL                                           

Page 500

021651,000457: 24,2322           26644                                    SETIFLGS                              
021652,000458: 24,2323           43014                           BOF      SET                                   #  IF W-MATRIX INVALID, DONT INTEGRATE IT
021653,000459: 24,2324           02756                                    RENDWFLG                              
021654,000460: 24,2325           50336                                    UPPSV1                                
021655,000461: 24,2326           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
021656,000462: 24,2327           43014                           BON      SET                                   
021657,000463: 24,2330           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
021658,000464: 24,2331           50333                                    UPPSV5                                
021659,000465: 24,2332           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
021660,000466: 24,2333           77614        UPPSV5             BOF                                            
021661,000467: 24,2334           00747                                    VEHUPFLG                              
021662,000468: 24,2335           50370                                    UPPSV3                                
021663,000469: 24,2336           77614        UPPSV1             SET                                            
021664,000470: 24,2337           01474                                    VINTFLAG                              
021665,000471: 24,2340           77624                           CALL                                           
021666,000472: 24,2341           27134                                    INTEGRV                               
021667,000473: 24,2342           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
021668,000474: 24,2343           11244                                    GRP2PC                                #  TO PROTECT INTEGRATION
021669,000475: 24,2344           77624                           CALL                                           
021670,000476: 24,2345           27414                                    INTSTALL                              
021671,000477: 24,2346           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
021672,000478: 24,2347           01571                                    TETCSM                                
021673,000479: 24,2350           01674                                    VINTFLAG                              
021674,000480: 24,2351           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
021675,000481: 24,2352           26644                                    SETIFLGS                              #        WITHOUT W-MATRIX
021676,000482: 24,2353           34041                           STCALL   TDEC1                                 
021677,000483: 24,2354           27134                                    INTEGRV                               
021678,000484: 24,2355           77214                           BOFF     VLOAD                                 
021679,000485: 24,2356           04347                                    SURFFLAG                              
021680,000486: 24,2357           50216                                    P20LEMC4                              
021681,000487: 24,2360           01661                                    RCVLEM                                
021682,000488: 24,2361           77742                           VSR2                                           
021683,000489: 24,2362           26352                           STOVL    LMPOS                                 
021684,000490: 24,2363           01667                                    VCVLEM                                
021685,000491: 24,2364           77742                           VSR2                                           
021686,000492: 24,2365           02360                           STORE    LMVEL                                 
021687,000493: 24,2366           77650                           GOTO                                           
021688,000494: 24,2367           01757                                    LS21X                                 
021689,000495: 
021690,000496: 24,2370           45014        UPPSV3             CLEAR    CALL                                  
021691,000497: 24,2371           01674                                    VINTFLAG                              
021692,000498: 24,2372           27134                                    INTEGRV                               
021693,000499: 24,2373           77624                           CALL                                           
021694,000500: 24,2374           11244                                    GRP2PC                                
021695,000501: 24,2375           77624                           CALL                                           
021696,000502: 24,2376           27414                                    INTSTALL                              
021697,000503: 24,2377           71214                           SET      DLOAD                                 
021698,000504: 24,2400           01474                                    VINTFLAG                              
021699,000505: 24,2401           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.

Page 501

021701,000507: 24,2402           77650                           GOTO                                           
021702,000508: 24,2403           50351                                    UPPSV4                                
021703,000509: 24,2404  E7,1456                                  EBANK=   LOSCOUNT                              
021704,000510: 24,2404                                           COUNT*   $$/P22                                
021705,000511: 

Page 502

021707,000513:                                                                                                  #  PROGRAM DESCRIPTION
021708,000514: 
021709,000515:                                                                                                  #        PREFERRED TRACKING ATTITUDE PROGRAM P25
021710,000516:                                                                                                  #        MOD NO - 3
021711,000517:                                                                                                  #        BY P. VOLANTE
021712,000518: 
021713,000519:                                                                                                  #  FUNCTIONAL DESCRIPTION
021714,000520: 
021715,000521:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021716,000522:                                                                                                  #        ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021717,000523:                                                                                                  #        CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021718,000524:                                                                                                  #        CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021719,000525: 
021720,000526:                                                                                                  #  CALLING SEQUENCE -
021721,000527: 
021722,000528:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E25E
021723,000529: 
021724,000530:                                                                                                  #  SUBROUTINES CALLED -
021725,000531: 
021726,000532:                                                                                                  #        BANKCALL                                        FLAGUP
021727,000533:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      ENDOFJOB
021728,000534:                                                                                                  #        R61LEM  (PREF TRK ATT ROUT)                     WAITLIST
021729,000535:                                                                                                  #        TASKOVER                                        FINDVAC
021730,000536: 
021731,000537:                                                                                                  #  NORMAL EXIT MODES -
021732,000538: 
021733,000539:                                                                                                  #        P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021734,000540:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021735,000541: 
021736,000542:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021737,000543: 
021738,000544:                                                                                                  #        NONE
021739,000545: 
021740,000546:                                                                                                  #  OUTPUT
021741,000547: 
021742,000548:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021743,000549: 
021744,000550:                                                                                                  #  FLAGS SET + RESET
021745,000551: 
021746,000552:                                                                                                  #        TRACKFLG, P25FLAG
021747,000553: 
021748,000554:                                                                                                  #  DEBRIS
021749,000555: 
021750,000556:                                                                                                  #        NONE
021751,000557: 
021752,000558: 24,2404  E7,1456                                  EBANK=   LOSCOUNT                              
021753,000559: 24,2404                                           COUNT*   $$/P25                                
021754,000560: 24,2404           05327        PROG25             TC       2PHSCHNG                              
021755,000561: 24,2405           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
021756,000562: 24,2406           05022                           OCT      05022                                 
021757,000563: 24,2407           26000                           OCT      26000                                 #  PRIORITY 26
021758,000564: 
021759,000565: 24,2410           04616                           TC       BANKCALL                              
021760,000566: 24,2411           11254                           CADR     R02BOTH                               #  IMU STATUS CHECK
021761,000567: 24,2412           05504                           TC       UPFLAG                                
021762,000568: 24,2413           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021763,000569: 24,2414           05504                           TC       UPFLAG                                
021764,000570: 24,2415           00006                           ADRES    P25FLAG                               #  SET P25FLAG
021765,000571: 24,2416           05353        P25LEM1            TC       PHASCHNG                              
021766,000572: 24,2417           04022                           OCT      04022                                 
021767,000573: 24,2420           34743                           CAF      P25FLBIT                              
021768,000574: 24,2421           70074                           MASK     STATE                                 #  IS P25FLAG SET
021769,000575: 24,2422           00006                           EXTEND                                         
021770,000576: 24,2423           15155                           BZF      ENDOFJOB                              
021771,000577: 24,2424           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021772,000578: 24,2425           70075                           MASK     STATE      +1                         
021773,000579: 24,2426           00006                           EXTEND                                         

Page 503

021775,000581: 24,2427           12437                           BZF      P25LMWT1                              #  NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021776,000582: 24,2430           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
021777,000583: 24,2431           55745                           TS       R65CNTR                               
021778,000584: 24,2432           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
021779,000585: 24,2433           46123                           CADR     R65LEM                                
021780,000586: 24,2434           02416                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
021781,000587: 24,2435           05353        P25LEMWT           TC       PHASCHNG                              
021782,000588: 24,2436           00112                           OCT      00112                                 
021783,000589: 24,2437           32450        P25LMWT1           CAF      60SCNDS                               
021784,000590: 24,2440           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
021785,000591: 24,2441           02443                           ADRES    P25LEM2                               
021786,000592: 24,2442           05155                           TC       ENDOFJOB                              
021787,000593: 24,2443           35024        P25LEM2            CAF      PRIO14                                
021788,000594: 24,2444           05105                           TC       FINDVAC                               
021789,000595: 24,2445  E7,1456                                  EBANK=   LOSCOUNT                              
021790,000596: 24,2445           02416 50067                     2CADR    P25LEM1                               
021791,000597: 
021792,000598: 24,2447           05261                           TC       TASKOVER                              
021793,000599: 24,2450           13560        60SCNDS            DEC      6000       B-14                       
021794,000600: 

Page 504

021796,000602:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
021797,000603:                                                                                                  #  PROGRAM DESCRIPTION
021798,000604: 
021799,000605:                                                                                                  #        MOD NO - 2
021800,000606:                                                                                                  #        BY P VOLANTE
021801,000607: 
021802,000608:                                                                                                  #  FUNCTIONAL DESCRIPTION
021803,000609: 
021804,000610:                                                                                                  #        TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021805,000611:                                                                                                  #        LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021806,000612: 
021807,000613:                                                                                                  #  CALLING SEQUENCE -
021808,000614: 
021809,000615:                                                                                                  #        TC      BANKCALL
021810,000616:                                                                                                  #        CADR    R22LEM
021811,000617: 
021812,000618:                                                                                                  #  SUBROUTINES CALLED -
021813,000619: 
021814,000620:                                                                                                  #        LSR22.1         GOFLASH         WAITLIST
021815,000621:                                                                                                  #        LSR22.2         PRIOLARM        BANKCALL
021816,000622:                                                                                                  #        LSR22.3         R61LEM
021817,000623: 
021818,000624:                                                                                                  #  NORMAL EXIT MODES -
021819,000625: 
021820,000626:                                                                                                  #        R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021821,000627:                                                                                                  #        UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021822,000628:                                                                                                  #        R22 WILL TERMINATE SELF.
021823,000629: 
021824,000630:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021825,000631: 
021826,000632:                                                                                                  #        PRIORITY ALARM
021827,000633:                                                                                                  #        PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021828,000634: 
021829,000635:                                                                                                  #  OUTPUT
021830,000636: 
021831,000637:                                                                                                  #        SEE OUTPUT FROM LSR22.3
021832,000638: 
021833,000639:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021834,000640: 
021835,000641:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021836,000642: 
021837,000643:                                                                                                  #  FLAGS SET + RESET
021838,000644: 
021839,000645:                                                                                                  #        NOANGFLG
021840,000646: 
021841,000647:                                                                                                  #  DEBRIS
021842,000648: 
021843,000649:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021844,000650: 
021845,000651: 24,2451  E7,1737                                  EBANK=   LRS22.1X                              
021846,000652: 24,2451                                           COUNT*   $$/R22                                
021847,000653: 24,2451           05353        R22LEM             TC       PHASCHNG                              
021848,000654: 24,2452           04022                           OCT      04022                                 
021849,000655: 24,2453           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
021850,000656: 24,2454           70074                           MASK     STATE                                 
021851,000657: 24,2455           00006                           EXTEND                                         
021852,000658: 24,2456           15155                           BZF      ENDOFJOB                              #  NO - EXIT R22 AND P20
021853,000659: 24,2457           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021854,000660: 24,2460           70075                           MASK     STATE      +1                         
021855,000661: 24,2461           00006                           EXTEND                                         
021856,000662: 24,2462           12636                           BZF      R22WAIT                               #  NO WAIT
021857,000663: 24,2463           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
021858,000664: 24,2464           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARSIT
021859,000665: 24,2465           02012                           RAND     CHAN12                                
021860,000666: 24,2466           00006                           EXTEND                                         
021861,000667: 24,2467           12111                           BZF      P20LEMA                               #  NO - RETURN TO P20
021862,000668: 24,2470           34752                           CAF      BIT2                                  #  YES
021863,000669: 24,2471           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
021864,000670: 24,2472           02033                           RAND     CHAN33                                

Page 505

021866,000672: 24,2473           00006                           EXTEND                                         
021867,000673: 24,2474           12476                           BZF      +2                                    #  YES CONTINUE
021868,000674: 24,2475           02135                           TC       P20LEMB5                              #  NO - SET IT
021869,000675: 24,2476           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021870,000676: 24,2477           74737                           MASK     RCDU0BIT                              
021871,000677: 24,2500           00006                           EXTEND                                         
021872,000678: 24,2501           12627                           BZF      R22LEM42                              #  CDUS BEING ZEROED
021873,000679: 24,2502           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS, AN EXTRA RADAR
021874,000680: 24,2503           00152                           OCT      00152                                 #  READING IS TAKEN, SO BAD DATA ISN'T USED
021875,000681: 24,2504           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
021876,000682: 24,2505           64366                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
021877,000683: 24,2506           50154                           INDEX    MPAC                                  
021878,000684: 24,2507           02510                           TC       +1                                    
021879,000685: 24,2510           02531                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
021880,000686: 24,2511           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021881,000687: 24,2512           32663                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
021882,000688: 24,2513           04616                           TC       BANKCALL                              
021883,000689: 24,2514           21562                           CADR     PRIOLARM                              
021884,000690: 24,2515           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021885,000691: 24,2516           02521                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
021886,000692: 24,2517           02512                           TC       -5                                    #  ENTER (ILLEGAL OPTION)
021887,000693: 24,2520           05155                           TC       ENDOFJOB                              
021888,000694: 
021889,000695: 24,2521           05353        R22LEM1            TC       PHASCHNG                              
021890,000696: 24,2522           04022                           OCT      04022                                 
021891,000697: 24,2523           32664                           CAF      V06N05                                #  DISPLAY DELTA THETA
021892,000698: 24,2524           04616                           TC       BANKCALL                              
021893,000699: 24,2525           20507                           CADR     PRIODSP                               
021894,000700: 24,2526           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021895,000701: 24,2527           02531                           TC       R22LEM2                               #  PROC (OK CONTINUE)
021896,000702: 24,2530           02217                           TC       P20LEMC                               #  ENTER (RECYCLE)
021897,000703: 24,2531           05353        R22LEM2            TC       PHASCHNG                              
021898,000704: 24,2532           04022                           OCT      04022                                 
021899,000705: 24,2533           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021900,000706: 24,2534           02551                           TC       R22LEM3                               #  YES - BYPASS FLAG CHECKS AND LRS22.2
021901,000707: 24,2535           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
021902,000708: 24,2536           74747                           MASK     TRACKBIT                              
021903,000709: 24,2537           00006                           EXTEND                                         
021904,000710: 24,2540           12636                           BZF      R22WAIT                               #  NO - WAIT
021905,000711: 24,2541           04616                           TC       BANKCALL                              #  YES
021906,000712: 24,2542           51333                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021907,000713: 24,2543           50154                           INDEX    MPAC                                  
021908,000714: 24,2544           02545                           TC       +1                                    
021909,000715: 24,2545           02551                           TC       R22LEM3                               #  NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021910,000716: 24,2546           04616                           TC       BANKCALL                              
021911,000717: 24,2547           46116                           CADR     R61LEM                                
021912,000718: 24,2550           02636                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
021913,000719: 24,2551           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
021914,000720: 24,2552           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)

Page 506

021916,000722: 24,2553           00006                           EXTEND                                         
021917,000723: 24,2554           12627                           BZF      R22LEM42                              #  BRANCH - YES
021918,000724: 24,2555           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
021919,000725: 24,2556           74745                           MASK     UPDATBIT                              
021920,000726: 24,2557           00006                           EXTEND                                         
021921,000727: 24,2560           12627                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
021922,000728: 24,2561           37714                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
021923,000729: 24,2562           55056                           TS       PHSPRDT2                              
021924,000730: 
021925,000731: 24,2563           06037                           TC       INTPRET                               
021926,000732: 24,2564           77650                           GOTO                                           
021927,000733: 24,2565           54412                                    LSR22.3                               
021928,000734: 24,2566           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
021929,000735: 24,2567           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
021930,000736: 24,2570           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
021931,000737: 24,2571           12622                           TCF      R22LEM44                              
021932,000738: 24,2572           77776        R22LEM96           EXIT                                           
021933,000739: 24,2573           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
021934,000740: 24,2574           55746                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
021935,000741: 24,2575           05353                           TC       PHASCHNG                              
021936,000742: 24,2576           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
021937,000743: 24,2577           37715                           CAF      PRIO27                                #  PROTECT DISPLAY
021938,000744: 24,2600           05072                           TC       NOVAC                                 
021939,000745: 24,2601  E7,1746                                  EBANK=   N49FLAG                               
021940,000746: 24,2601           02644 50067                     2CADR    N49DSP                                
021941,000747: 
021942,000748: 24,2603           06037                           TC       INTPRET                               
021943,000749: 24,2604           77735                           SLOAD                                          
021944,000750: 24,2605           03747                                    N49FLAG                               
021945,000751: 24,2606           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
021946,000752: 24,2607           50604                                    -3                                    #  SETTING CHANGED - BRANCH - NO
021947,000753: 24,2610           50616                                    R22LEM7                               #  PROCEED
021948,000754: 24,2611           77776                           EXIT                                           #  DISPLAY ANSWERED BY RECYCLE
021949,000755: 24,2612           02667                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021950,000756: 24,2613           02636                           TC       R22WAIT                               #  YES - 15 SECOND DELAY
021951,000757: 24,2614           34755                           CA       ZERO                                  #  NO - SET R65COUNTER = 0, DO FINE
021952,000758: 24,2615           02632                           TC       R22LEM45                              #  TRACKING TAKE ANOTHER RADAR READING
021953,000759: 24,2616           77624        R22LEM7            CALL                                           #  PROCEED
021954,000760: 24,2617           11244                                    GRP2PC                                #  PHASE CHANGE AND
021955,000761: 24,2620           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
021956,000762: 24,2621           55431                                    ASTOK                                 
021957,000763: 24,2622           25462        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
021958,000764: 24,2623           02667                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021959,000765: 24,2624           02640                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021960,000766: 24,2625           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
021961,000767: 24,2626           02632                           TC       R22LEM45                              #  R65COUNTER = 5
021962,000768: 24,2627           02667        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021963,000769: 24,2630           02640                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021964,000770: 24,2631           34752                           CA       TWO                                   #  NO - SET R65COUNTER = 2
021965,000771: 24,2632           55745        R22LEM45           TS       R65CNTR                               

Page 507

021967,000773: 24,2633           04616                           TC       BANKCALL                              
021968,000774: 24,2634           46123                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
021969,000775: 24,2635           02451                           TC       R22LEM                                
021970,000776: 24,2636           32666        R22WAIT            CAF      1500DEC                               
021971,000777: 24,2637           02233                           TC       P20LEMWT   +1                         
021972,000778: 
021973,000779: 24,2640           35000        R22LEM46           CAF      2SECS                                 
021974,000780: 24,2641           04616                           TC       BANKCALL                              #  WAIT 2 SECONDS AND TAKE ANOTHER MARK
021975,000781: 24,2642           01735                           CADR     DELAYJOB                              
021976,000782: 24,2643           02451                           TC       R22LEM                                
021977,000783: 
021978,000784: 24,2644           32665        N49DSP             CAF      V06N49NB                              
021979,000785: 24,2645           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
021980,000786: 24,2646           20507                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021981,000787: 24,2647           06022                           TC       GOTOV56                               #  TERMINATE - EXIT R22 AND P20
021982,000788: 24,2650           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
021983,000789: 24,2651           55746                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
021984,000790: 24,2652           05155                           TC       ENDOFJOB                              
021985,000791: 24,2653           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
021986,000792: 24,2654           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
021987,000793: 24,2655           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
021988,000794: 24,2656           53103                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
021989,000795: 24,2657           04616                           TC       BANKCALL                              #  BAD DATA
021990,000796: 24,2660           17714                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
021991,000797: 24,2661           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021992,000798: 24,2662           02451                           TC       R22LEM                                #  READ SUCCESSFUL - CONTINUE AT R22
021993,000799: 
021994,000800: 24,2663           00525        ALRM525            OCT      00525                                 
021995,000801: 24,2664           01405        V06N05             VN       00605                                 
021996,000802: 24,2665           01461        V06N49NB           VN       00649                                 
021997,000803: 24,2666           02734        1500DEC            DEC      1500       B-14                       
021998,000804: 
021999,000805:                                                                                                  #  LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022000,000806:                                                                                                  #        RETURNS TO CALLER +1 IF P22FLAG SET
022001,000807:                                                                                                  #                TO CALLER +2 IF P22FLAG NOT SET
022002,000808: 
022003,000809: 24,2667                                           COUNT*   $$/P22                                
022004,000810: 24,2667           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
022005,000811: 24,2670           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
022006,000812: 24,2671           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
022007,000813: 24,2672           24002                           INCR     Q                                     #  NOT SET
022008,000814: 24,2673           00002                           TC       Q                                     #  RETURN
022009,000815: 

Page 508

022011,000817:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
022012,000818:                                                                                                  #  PROGRAM DESCRIPTION
022013,000819: 
022014,000820:                                                                                                  #        MOD NO - 2
022015,000821:                                                                                                  #        BY P VOLANTE
022016,000822: 
022017,000823:                                                                                                  #  FUNCTIONAL DESCRIPTION
022018,000824: 
022019,000825:                                                                                                  #        TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022020,000826:                                                                                                  #        OF THE CSM IS ACCOMPLISHED BY THE RADAR.  ROUTINE IS CALLED BY P20.
022021,000827: 
022022,000828:                                                                                                  #  CALLING SEQUENCE -
022023,000829: 
022024,000830:                                                                                                  #        TC      BANKCALL
022025,000831:                                                                                                  #        CADR    R21LEM
022026,000832: 
022027,000833:                                                                                                  #  SUBROUTINES CALLED -
022028,000834: 
022029,000835:                                                                                                  #        FINDVAC         FLAGUP          ENDOFJOB        PRIOLARM
022030,000836:                                                                                                  #        NOVAC           INTPRET         LPS20.1         PHASCHNG
022031,000837:                                                                                                  #        WAITLIST        JOBSLEEP        JOBWAKE         FLAGDOWN
022032,000838:                                                                                                  #        TASKOVER        BANKCALL        RADSTALL        RRDESSM
022033,000839: 
022034,000840:                                                                                                  #  NORMAL EXIT MODES
022035,000841:                                                                                                  #        
022036,000842:                                                                                                  #        WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022037,000843:                                                                                                  #        WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
022038,000844: 
022039,000845:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022040,000846: 
022041,000847:                                                                                                  #        PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022042,000848:                                                                                                  #        THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022043,000849:                                                                                                  #        ACQUISITION
022044,000850: 
022045,000851:                                                                                                  #  OUTPUT
022046,000852: 
022047,000853:                                                                                                  #        SEE LPS20.1, RRDESSM
022048,000854: 
022049,000855:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022050,000856: 
022051,000857:                                                                                                  #        RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
022052,000858: 
022053,000859:                                                                                                  #  FLAGS SET + RESET
022054,000860: 
022055,000861:                                                                                                  #        LOSCMFLG        LOKONSW
022056,000862: 
022057,000863:                                                                                                  #  DEBRIS
022058,000864: 
022059,000865:                                                                                                  #        SEE LPS20.1, RRDESSM
022060,000866: 
022061,000867: 24,2674  E7,1456                                  EBANK=   LOSCOUNT                              
022062,000868: 24,2674                                           COUNT*   $$/R21                                
022063,000869: 24,2674           44736        R21LEM             CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
022064,000870: 24,2675           00006                           EXTEND                                         
022065,000871: 24,2676           03012                           WAND     CHAN12                                
022066,000872: 24,2677           02667                           TC       LUNSFCHK                              
022067,000873: 24,2700           02705                           TC       R21LEM5                               
022068,000874: 24,2701           34755                           CAF      ZERO                                  #  COMMAND ANTENNA TO MODE CENTER
022069,000875: 24,2702           55107                           TS       TANG                                  #  IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
022070,000876: 24,2703           55110                           TS       TANG       +1                         
022071,000877: 24,2704           02715                           TC       R21LEM6                               
022072,000878: 24,2705           34740        R21LEM5            CAF      BIT12                                 
022073,000879: 24,2706           70110                           MASK     RADMODES                              
022074,000880: 24,2707           10000                           CCS      A                                     
022075,000881: 24,2710           02725                           TC       R21LEM10                              
022076,000882: 24,2711           34735                           CAF      BIT15                                 
022077,000883: 24,2712           55107                           TS       TANG                                  
022078,000884: 24,2713           44736                           CS       HALF                                  
022079,000885: 24,2714           55110                           TS       TANG       +1                         
022080,000886: 

Page 509

022082,000888: 24,2715           05516        R21LEM6            TC       DOWNFLAG                              
022083,000889: 24,2716           00012                           ADRES    LOKONSW                               
022084,000890: 24,2717           04616                           TC       BANKCALL                              
022085,000891: 24,2720           52475                           CADR     RRDESNB                               
022086,000892: 24,2721           02722                           TC       +1                                    
022087,000893: 24,2722           04616                           TC       BANKCALL                              
022088,000894: 24,2723           17714                           CADR     RADSTALL                              
022089,000895: 24,2724           02760                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE - ISSUE ALARM
022090,000896: 24,2725           05504        R21LEM10           TC       UPFLAG                                
022091,000897: 24,2726           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
022092,000898: 24,2727           32310                           CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECONDS)
022093,000899: 24,2730           55114                           TS       DESCOUNT                              #  TO DESIGNATE AND LOCK ON
022094,000900: 24,2731           36245        R21LEM2            CAF      THREE                                 
022095,000901: 24,2732           55456                           TS       LOSCOUNT                              
022096,000902: 24,2733           06037        R21LEM1            TC       INTPRET                               
022097,000903: 24,2734           43234                           RTB      DAD                                   
022098,000904: 24,2735           21573                                    LOADTIME                              
022099,000905: 24,2736           11120                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022100,000906: 24,2737           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
022101,000907: 24,2740           51255                                    LPS20.1                               
022102,000908: 24,2741           77776                           EXIT                                           
022103,000909: 24,2742           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR - ON DESIRED
022104,000910: 24,2743           00012                           ADRES    LOKONSW                               
022105,000911: 24,2744           05516                           TC       DOWNFLAG                              
022106,000912: 24,2745           00126                           ADRES    NORRMON                               
022107,000913: 24,2746           06037                           TC       INTPRET                               
022108,000914: 24,2747           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
022109,000915: 24,2750           52373                                    RRDESSM                               #  DESIGNATE ROUTINE
022110,000916: 24,2751           77776                           EXIT                                           
022111,000917: 24,2752           02777                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
022112,000918:                                                                                                  #  ON LUNAR SURFACE
022113,000919: 24,2753           02111                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
022114,000920: 24,2754           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
022115,000921: 24,2755           17714                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022116,000922: 24,2756           02760                           TC       +2                                    #  BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
022117,000923: 24,2757           02767                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022118,000924: 24,2760           32775        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
022119,000925: 24,2761           04616                           TC       BANKCALL                              
022120,000926: 24,2762           21562                           CADR     PRIOLARM                              
022121,000927: 24,2763           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022122,000928: 24,2764           02772                           TC       R21SRCH                               #  PROC
022123,000929: 24,2765           02211                           TC       P20LEMC3                              
022124,000930: 24,2766           05155                           TC       ENDOFJOB                              
022125,000931: 24,2767           05516        R21END             TC       DOWNFLAG                              
022126,000932: 24,2770           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
022127,000933: 24,2771           03121                           TC       R21DISP                               #  PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022128,000934: 24,2772           05353        R21SRCH            TC       PHASCHNG                              
022129,000935: 24,2773           04022                           OCT      04022                                 
022130,000936: 24,2774           03206                           TC       R24LEM                                #  SEARCH ROUTINE
022131,000937: 24,2775           00503        ALRM503            OCT      00503                                 

Page 510

022133,000939: 24,2776           00527        ALRM527            OCT      527                                   
022134,000940: 
022135,000941: 24,2777           32310        R21LEM4            CAF      MAXTRIES                              #  SET UP COUNTER FOR
022136,000942: 24,3000           55423                           TS       REPOSCNT                              #  60 PASSES (APPROX 600 SECS.)
022137,000943: 24,3001           05504                           TC       UPFLAG                                
022138,000944: 24,3002           00005                           ADRES    FSPASFLG                              #  SET FIRST PASS FLAG
022139,000945: 24,3003           05516                           TC       DOWNFLAG                              #  RESET LOS BEING
022140,000946: 24,3004           00041                           ADRES    LOSCMFLG                              #  COMPUTED FLAG
022141,000947: 24,3005           06037                           TC       INTPRET                               
022142,000948: 24,3006           77634        R21LEM12           RTB                                            
022143,000949: 24,3007           21573                                    LOADTIME                              
022144,000950: 24,3010           77615                           DAD                                            
022145,000951: 24,3011           11116                                    TENSEC                                #  TIME T = T + 10 SECS.
022146,000952: 24,3012           03425                           STORE    REPOSTM                               #  SAVE FOR LONGCALL AND UPPSV
022147,000953: 24,3013           34041                           STCALL   TDEC1                                 
022148,000954: 24,3014           51255                                    LPS20.1                               #  COMPUTE LOS AT TIME T
022149,000955: 24,3015           77624                           CALL                                           
022150,000956: 24,3016           52373                                    RRDESSM                               
022151,000957: 24,3017           77776                           EXIT                                           
022152,000958: 24,3020           03033                           TC       R21LEM13                              #  LOS NOT IN MODE 2 COVERAGE
022153,000959: 24,3021           05155                           TC       ENDOFJOB                              #  VEHICLE MANEUVER REQUIRED
022154,000960: 24,3022           06027                           TC       KILLTASK                              
022155,000961: 24,3023           52573                           CADR     BEGDES                                
022156,000962: 24,3024           06037                           TC       INTPRET                               
022157,000963: 24,3025           77614                           BOF                                            
022158,000964: 24,3026           00345                                    FSPASFLG                              #  FIRST PASS THRU REPOSITION
022159,000965: 24,3027           51043                                    R21LEMB                               #  NO - GO TO CONTINUOUS DESIGNATE
022160,000966: 24,3030           77614                           CLRGO                                          
022161,000967: 24,3031           00225                                    FSPASFLG                              #  YES - RESET FIRST PASS FLAG
022162,000968: 24,3032           51037                                    R21LEM7    +1                         
022163,000969: 24,3033           11423        R21LEM13           CCS      REPOSCNT                              #  HAVE WE TRIED 60 TIMES?
022164,000970: 24,3034           03036                           TC       R21LEM7                               #  NO - ADD 10 SECS.  RECOMPUTE LOS
022165,000971: 24,3035           03105                           TC       R21LEM11                              #  YES - PUT OUT ALARM 530
022166,000972: 24,3036           55423        R21LEM7            TS       REPOSCNT                              
022167,000973: 24,3037           06037                           TC       INTPRET                               
022168,000974: 24,3040           52145                           DLOAD    GOTO                                  
022169,000975: 24,3041           03425                                    REPOSTM                               
022170,000976: 24,3042           51010                                    R21LEM12   +2                         
022171,000977: 24,3043           77745        R21LEMB            DLOAD                                          
022172,000978: 24,3044           03425                                    REPOSTM                               
022173,000979: 24,3045           34041                           STCALL   TDEC1                                 
022174,000980: 24,3046           50316                                    UPPSV                                 
022175,000981: 24,3047           77776                           EXIT                                           
022176,000982: 24,3050           05504                           TC       UPFLAG                                #  SET RADMODES BIT 15 FOR
022177,000983: 24,3051           00264                           ADRES    CDESFLAG                              #  CONTINUOUS DESIGNATION
022178,000984: 24,3052           05516                           TC       DOWNFLAG                              
022179,000985: 24,3053           00012                           ADRES    LOKONSW                               
022180,000986: 24,3054           05504                           TC       UPFLAG                                
022181,000987: 24,3055           00126                           ADRES    NORRMON                               

Page 511

022183,000989: 24,3056           04616                           TC       BANKCALL                              
022184,000990: 24,3057           52475                           CADR     RRDESNB                               
022185,000991: 24,3060           03061                           TC       +1                                    
022186,000992: 24,3061           06037                           TC       INTPRET                               
022187,000993: 24,3062           44234                           RTB      BDSU                                  
022188,000994: 24,3063           21573                                    LOADTIME                              #  COMPUTE DELTA TIME
022189,000995: 24,3064           03425                                    REPOSTM                               #  FOR LONGCALL
022190,000996: 24,3065           03427                           STORE    DELTATM                               
022191,000997: 24,3066           77776                           EXIT                                           
022192,000998: 24,3067           00006                           EXTEND                                         
022193,000999: 24,3070           31427                           DCA      DELTATM                               
022194,001000: 24,3071           05277                           TC       LONGCALL                              
022195,001001: 24,3072  E7,1456                                  EBANK=   LOSCOUNT                              
022196,001002: 24,3072           03075 50067                     2CADR    R21LEM9                               
022197,001003: 
022198,001004: 24,3074           05155                           TC       ENDOFJOB                              
022199,001005: 24,3075           06027        R21LEM9            TC       KILLTASK                              
022200,001006: 24,3076           52602                           CADR     STDESIG                               
022201,001007: 24,3077           06011                           TC       CLRADMOD                              
022202,001008: 24,3100           37714                           CAF      PRIO26                                
022203,001009: 24,3101           05105                           TC       FINDVAC                               
022204,001010: 24,3102  E7,1456                                  EBANK=   LOSCOUNT                              
022205,001011: 24,3102           02725 50067                     2CADR    R21LEM10                              
022206,001012: 
022207,001013: 24,3104           05261                           TC       TASKOVER                              
022208,001014: 24,3105           33114        R21LEM11           CAF      ALRM530                               #  ALARM 530 - LOS NOT IN COVERAGE
022209,001015: 24,3106           04616                           TC       BANKCALL                              #  AFTER TRYING TO DESIGNATE FOR
022210,001016: 24,3107           21562                           CADR     PRIOLARM                              #  600 SECS.
022211,001017: 24,3110           06022                           TC       GOTOV56                               
022212,001018: 24,3111           06022                           TC       GOTOV56                               
022213,001019: 24,3112           06022                           TC       GOTOV56                               
022214,001020: 24,3113           05155                           TC       ENDOFJOB                              
022215,001021: 24,3114           00530        ALRM530            OCT      00530                                 
022216,001022: 24,3115           00000 01750  TENSEC             2DEC     1000       B-28                       
022217,001023: 
022218,001024: 24,3117           00000 00062  HALFSEC            2DEC     50         B-28                       
022219,001025: 
022220,001026: 24,3121           05353        R21DISP            TC       PHASCHNG                              
022221,001027: 24,3122           04022                           OCT      04022                                 
022222,001028: 24,3123           33134                           CAF      V06N72PV                              #  FLASH V 50 N 72 - PLEASE PERFORM RR
022223,001029: 24,3124           04616                           TC       BANKCALL                              #  MAIN LOBE LOCKON VERIFICATION
022224,001030: 24,3125           20710                           CADR     GOPERF2R                              
022225,001031: 24,3126           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V 56
022226,001032: 24,3127           02232                           TC       P20LEMWT                              #  PROCEED CONTINUES TO R22
022227,001033: 24,3130           03123                           TC       -5                                    #  ENTER ILLEGAL
022228,001034: 24,3131           34745                           CAF      BIT7                                  
022229,001035: 24,3132           05464                           TC       LINUS                                 #  SET BITS TO MAKE THIS A PRIORITY DISPLAY
022230,001036: 24,3133           05155                           TC       ENDOFJOB                              
022231,001037: 

Page 512

022233,001039: 24,3134           01510        V06N72PV           VN       00672                                 
022234,001040: 

Page 513

022236,001042:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
022237,001043:                                                                                                  #  PROGRAM DESCRIPTION
022238,001044: 
022239,001045:                                                                                                  #        MOD NO - 2
022240,001046:                                                                                                  #        BY P VOLANTE
022241,001047: 
022242,001048:                                                                                                  #  FUNCTIONAL DESCRIPTION
022243,001049: 
022244,001050:                                                                                                  #        TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022245,001051: 
022246,001052:                                                                                                  #  CALLING SEQUENCE -
022247,001053: 
022248,001054:                                                                                                  #        TC      R23LEM
022249,001055: 
022250,001056:                                                                                                  #  SUBROUTINES CALLED
022251,001057: 
022252,001058:                                                                                                  #        BANKCALL        R61LEM
022253,001059:                                                                                                  #        SETMINDB        GOPERF1
022254,001060: 
022255,001061:                                                                                                  #  NORMAL EXIT MODES -
022256,001062: 
022257,001063:                                                                                                  #        IN RESPONSE TO THE GOPERF1      ,SELECTION OF ENTER WILL RECYCLE R23
022258,001064:                                                                                                  #                                        ,SELECTION OF PROC WILL CONTINUE R23
022259,001065:                                                                                                  #                                        ,SELECTION OF TERM WILL TERMINATE R23 +P20
022260,001066: 
022261,001067:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022262,001068: 
022263,001069:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022264,001070: 
022265,001071:                                                                                                  #  OUTPUT
022266,001072: 
022267,001073:                                                                                                  #        N.A.
022268,001074: 
022269,001075:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
022270,001076: 
022271,001077:                                                                                                  #        ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022272,001078: 
022273,001079: 24,3135     1143                                  EBANK=   GENRET                                
022274,001080: 24,3135                                           COUNT*   $$/R23                                
022275,001081: 24,3135           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
022276,001082: 24,3136           00126                           ADRES    NORRMON                               
022277,001083: 24,3137           00004                           INHINT                                         
022278,001084: 24,3140           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
022279,001085: 24,3141           40140                           CADR     SETMINDB                              
022280,001086: 24,3142           00003                           RELINT                                         
022281,001087: 24,3143           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
022282,001088: 24,3144           00006                           EXTEND                                         
022283,001089: 24,3145           05012                           WOR      CHAN12                                
022284,001090: 24,3146           33205                           CAF      OCT205                                
022285,001091: 24,3147           04616                           TC       BANKCALL                              
022286,001092: 24,3150           20623                           CADR     GOPERF1                               
022287,001093: 24,3151           03176                           TC       R23LEM2                               #  TERMINATE
022288,001094: 24,3152           03154                           TC       R23LEM11                              #  PROCEDE
022289,001095: 24,3153           03201                           TC       R23LEM3                               #  ENTER - DO ANOTHER MANUVER
022290,001096: 24,3154           00004        R23LEM11           INHINT                                         
022291,001097: 24,3155           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
022292,001098: 24,3156           00035                           ADRES    CDUT                                  
022293,001099: 24,3157           03166                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
022294,001100: 24,3160           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
022295,001101: 24,3161           40123                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
022296,001102: 24,3162           00003                           RELINT                                         
022297,001103: 24,3163           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022298,001104: 24,3164           00126                           ADRES    NORRMON                               
022299,001105: 24,3165           02163                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
022300,001106: 24,3166           00003        OUTOFLIM           RELINT                                         

Page 514

022302,001108: 24,3167           33204                           CAF      OCT501PV                              
022303,001109: 24,3170           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
022304,001110: 24,3171           21562                           CADR     PRIOLARM                              #  LIMITS
022305,001111: 24,3172           03176                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022306,001112: 24,3173           03167                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
022307,001113: 24,3174           03201                           TC       R23LEM3                               #  RECYCLE - DO ANOTHER MANUVER
022308,001114: 24,3175           05155                           TC       ENDOFJOB                              
022309,001115: 24,3176           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
022310,001116: 24,3177           00126                           ADRES    NORRMON                               
022311,001117: 24,3200           06022                           TC       GOTOV56                               #  AND EXIT VIA V56
022312,001118: 24,3201           04616        R23LEM3            TC       BANKCALL                              
022313,001119: 24,3202           46116                           CADR     R61LEM                                
022314,001120: 24,3203           03143                           TC       R23LEM1                               
022315,001121: 
022316,001122: 24,3204           00501        OCT501PV           OCT      501                                   
022317,001123: 24,3205           00205        OCT205             OCT      205                                   
022318,001124: 

Page 515

022320,001126:                                                                                                  #  SEARCH ROUTINE R24LEM
022321,001127:                                                                                                  #  PROGRAM DESCRIPTION
022322,001128: 
022323,001129:                                                                                                  #        MOD NO - 2
022324,001130:                                                                                                  #        BY P. VOLANTE
022325,001131: 
022326,001132:                                                                                                  #  FUNCTIONAL DESCRIPTION
022327,001133: 
022328,001134:                                                                                                  #        TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022329,001135:                                                                                                  #        FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022330,001136:                                                                                                  #        THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022331,001137: 
022332,001138:                                                                                                  #  CALLING SEQUENCE
022333,001139: 
022334,001140:                                                                                                  #        CAF     PRIONN
022335,001141:                                                                                                  #        TC      FINDVAC
022336,001142:                                                                                                  #        EBANK=  DATAGOOD
022337,001143:                                                                                                  #        2CADR   R24LEM
022338,001144: 
022339,001145:                                                                                                  #  SUBROUTINES CALLED
022340,001146: 
022341,001147:                                                                                                  #        FLAGUP          FLAGDOWN        BANKCALL
022342,001148:                                                                                                  #        R61LEM          GOFLASHR        FINDVAC
022343,001149:                                                                                                  #        ENDOFJOB        NOVAC           LSR24.1
022344,001150: 
022345,001151:                                                                                                  #  NORMAL EXIT MODES -
022346,001152: 
022347,001153:                                                                                                  #        ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.  HE CAN EITHER
022348,001154:                                                                                                  #        REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022349,001155:                                                                                                  #        PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022350,001156: 
022351,001157:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022352,001158: 
022353,001159:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
022354,001160: 
022355,001161:                                                                                                  #  OUTPUT -
022356,001162: 
022357,001163:                                                                                                  #        SEE OUTPUT FROM LSR24.1 + R61LEM
022358,001164: 
022359,001165:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022360,001166: 
022361,001167:                                                                                                  #        SEE INPUT FOR LSR24.1
022362,001168: 
022363,001169:                                                                                                  #  FLAGS SET + RESET
022364,001170: 
022365,001171:                                                                                                  #        SRCHOPT, ACMODFLG
022366,001172: 
022367,001173: 24,3206  E7,1733                                  EBANK=   DATAGOOD                              
022368,001174: 24,3206                                           COUNT*   $$/R24                                
022369,001175: 24,3206           05504        R24LEM             TC       UPFLAG                                
022370,001176: 24,3207           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
022371,001177: 24,3210           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
022372,001178: 24,3211           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
022373,001179: 24,3212           34755        R24LEM1            CAF      ZERO                                  
022374,001180: 24,3213           55733                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
022375,001181: 24,3214           55734                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
022376,001182: 24,3215           55735                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
022377,001183: 24,3216           05353        R24LEM2            TC       PHASCHNG                              
022378,001184: 24,3217           04022                           OCT      04022                                 
022379,001185: 24,3220           33254                           CAF      V16N80                                
022380,001186: 24,3221           04616                           TC       BANKCALL                              
022381,001187: 24,3222           20504                           CADR     PRIODSPR                              
022382,001188: 24,3223           06022                           TC       GOTOV56                               
022383,001189: 24,3224           03230                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
022384,001190: 
022385,001191: 24,3225           03234                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C

Page 516

022387,001193: 24,3226           04616                           TC       BANKCALL                              
022388,001194: 24,3227           55442                           CADR     LRS24.1                               
022389,001195: 24,3230           06027        R24END             TC       KILLTASK                              
022390,001196: 24,3231           55643                           CADR     CALLDGCH                              
022391,001197: 24,3232           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
022392,001198: 24,3233           12063                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
022393,001199: 
022394,001200:    6011                                           BLOCK    3                                     
022395,001201:    6000                                           SETLOC   FFTAG6                                
022396,001202:    6000                                           BANK                                           
022397,001203:    6011                                           COUNT*   $$/R24                                
022398,001204: 
022399,001205:    6011           46021        CLRADMOD           CS       BIT10+15                              
022400,001206:    6012           00004                           INHINT                                         
022401,001207:    6013           70110                           MASK     RADMODES                              
022402,001208:    6014           54110                           TS       RADMODES                              
022403,001209:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
022404,001210:    6016           00006                           EXTEND                                         
022405,001211:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
022406,001212: 
022407,001213:    6020           00002                           TC       Q                                     
022408,001214: 
022409,001215:    6021           41000        BIT10+15           OCT      41000                                 
022410,001216: 24,3234                                           BANK     24                                    
022411,001217: 24,2000                                           SETLOC   P20S                                  
022412,001218: 24,2000                                           BANK                                           
022413,001219: 24,3234                                           COUNT*   $$/R24                                
022414,001220: 
022415,001221: 24,3234           05353        R24LEM3            TC       PHASCHNG                              
022416,001222: 24,3235           04022                           OCT      04022                                 
022417,001223: 24,3236           06027                           TC       KILLTASK                              
022418,001224: 24,3237           55643                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
022419,001225: 24,3240           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES TO KILL
022420,001226: 24,3241           00003                           RELINT                                         #  HALF SECOND DESIGNATE LOOP
022421,001227: 24,3242           34774                           CAF      .5SEC                                 
022422,001228: 24,3243           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
022423,001229: 24,3244           01735                           CADR     DELAYJOB                              
022424,001230: 24,3245           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
022425,001231: 24,3246           03251                           TC       R24LEM4                               #  YES - DONT DO ATTITUDE MANEUVER
022426,001232: 24,3247           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
022427,001233: 24,3250           46116                           CADR     R61LEM                                #  ATTITUDE MANEUVER
022428,001234: 24,3251           34755        R24LEM4            CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
022429,001235: 24,3252           55306                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022430,001236:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
022431,001237: 24,3253           03216                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
022432,001238: 
022433,001239: 24,3254           04120        V16N80             VN       01680                                 
022434,001240: 

Page 517

022436,001242:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022437,001243:                                                                                                  #  PROGRAM DESCRIPTION
022438,001244: 
022439,001245:                                                                                                  #        MOD NO: 3               DATE: 4-11-67
022440,001246:                                                                                                  #        MOD BY: P VOLANTE   SDC
022441,001247: 
022442,001248:                                                                                                  #  FUNCTIONAL DESCRIPTION -
022443,001249: 
022444,001250:                                                                                                  #        TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022445,001251:                                                                                                  #        TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022446,001252:                                                                                                  #        ATTITUDE.
022447,001253: 
022448,001254:                                                                                                  #  CALLING SEQUENCE -
022449,001255: 
022450,001256:                                                                                                  #        TC      BANKCALL
022451,001257:                                                                                                  #        CADR    R61LEM
022452,001258: 
022453,001259:                                                                                                  #  SUBROUTINES CALLED
022454,001260: 
022455,001261:                                                                                                  #        LPS20.1         VECPOINT
022456,001262:                                                                                                  #        KALCMAN3
022457,001263: 
022458,001264:                                                                                                  #  NORMAL EXIT MODES -
022459,001265: 
022460,001266:                                                                                                  #        NORMAL RETURN IS TO CALLER + 1
022461,001267: 
022462,001268:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022463,001269: 
022464,001270:                                                                                                  #        TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022465,001271:                                                                                                  #        RENDEZVOUS FLAG ARE NOT SET.
022466,001272: 
022467,001273:                                                                                                  #  OUTPUT -
022468,001274: 
022469,001275:                                                                                                  #        SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022470,001276: 
022471,001277:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022472,001278: 
022473,001279:                                                                                                  #        GENRET USED TO SAVE Q FOR RETURN
022474,001280: 
022475,001281:                                                                                                  #  FLAGS SET + RESET
022476,001282: 
022477,001283:                                                                                                  #        3AXISFLG
022478,001284: 
022479,001285:                                                                                                  #  DEBRIS
022480,001286: 
022481,001287:                                                                                                  #        SEE SUBROUTINES
022482,001288: 
022483,001289: 23,2000                                           SETLOC   R61                                   
022484,001290: 23,2000                                           BANK                                           
022485,001291: 23,2116  E7,1456                                  EBANK=   LOSCOUNT                              
022486,001292: 23,2116                                           COUNT*   $$/R61                                
022487,001293: 23,2116           04645        R61LEM             TC       MAKECADR                              
022488,001294: 23,2117           55143                           TS       GENRET                                
022489,001295: 23,2120           05504                           TC       UPFLAG                                #  SET R61 FLAG
022490,001296: 23,2121           00024                           ADRES    R61FLAG                               
022491,001297: 23,2122           02127                           TC       R61C+L01                              
022492,001298: 23,2123           04645        R65LEM             TC       MAKECADR                              
022493,001299: 23,2124           55143                           TS       GENRET                                
022494,001300: 23,2125           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
022495,001301: 23,2126           00024                           ADRES    R61FLAG                               
022496,001302: 23,2127           34747        R61C+L01           CAF      TRACKBIT                              #  TRACKFLAG
022497,001303: 23,2130           70075                           MASK     STATE      +1                         
022498,001304: 23,2131           00006                           EXTEND                                         
022499,001305: 23,2132           12271                           BZF      R65WAIT                               #  NOT SET
022500,001306: 23,2133           06037        R61C+L03           TC       INTPRET                               
022501,001307: 23,2134           77775                           VLOAD                                          

Page 518

022503,001309: 23,2135           06514                                    HIUNITZ                               
022504,001310: 23,2136           03765                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
022505,001311: 23,2137           43234        R61LEM1            RTB      DAD                                   
022506,001312: 23,2140           21573                                    LOADTIME                              #  EXTRAPOLATE FORWARD TO CENTER
022507,001313: 23,2141           15712                                    3SECONDS                              #  SIX SECOND PERIOD.
022508,001314: 23,2142           34041                           STCALL   TDEC1                                 
022509,001315: 23,2143           51255                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
022510,001316: 23,2144           77775                           VLOAD                                          
022511,001317: 23,2145           01102                                    RRTARGET                              
022512,001318: 23,2146           03773                           STORE    POINTVSM                              
022513,001319: 23,2147           45034                           RTB      CALL                                  #  GET DESIRED CDU'S FOR VECPNT1
022514,001320: 23,2150           46277                                    READCDUD                              
022515,001321: 23,2151           56032                                    VECPNT1                               #  COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022516,001322: 23,2152           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022517,001323: 23,2153           77776                           EXIT                                           
022518,001324: 23,2154           05353                           TC       PHASCHNG                              
022519,001325: 23,2155           04022                           OCT      04022                                 
022520,001326: 23,2156           34747                           CAF      TRACKBIT                              #  IS TRACK FLAG SET
022521,001327: 23,2157           70075                           MASK     FLAGWRD1                              
022522,001328: 23,2160           00006                           EXTEND                                         
022523,001329: 23,2161           12271                           BZF      R65WAIT                               
022524,001330: 23,2162           04616                           TC       BANKCALL                              
022525,001331: 23,2163           54255                           CADR     G+N,AUTO                              #  CHECK FOR AUTO MODE
022526,001332: 23,2164           10000                           CCS      A                                     
022527,001333: 23,2165           02257                           TC       R61C+L04                              #  NOT IN AUTO
022528,001334: 23,2166           06037                           TC       INTPRET                               
022529,001335: 23,2167           45175                           VLOAD    CALL                                  
022530,001336: 23,2170           01102                                    RRTARGET                              
022531,001337: 23,2171           47646                                    CDU*SMNB                              
022532,001338: 23,2172           45345                           DLOAD    DSU                                   #  GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022533,001339: 23,2173           00162                                    MPAC       +5                         
022534,001340: 23,2174           06275                                    COS15DEG                              
022535,001341: 23,2175           77440        R61LEM2            BMN      EXIT                                  #  BRANCH - PHI > 15 DEGREES
022536,001342: 23,2176           46213                                    R61C+L05                              #  PHI GRE 10DEG
022537,001343: 23,2177  E6,1635                                  EBANK=   CDUXD                                 
022538,001344: 23,2177           35015                           CAF      EBANK6                                
022539,001345: 23,2200           54003                           TS       EBANK                                 
022540,001346: 23,2201           00004                           INHINT                                         
022541,001347: 23,2202           00006                           EXTEND                                         
022542,001348: 23,2203           30322                           DCA      CPHI                                  
022543,001349: 23,2204           53636                           DXCH     CDUXD                                 
022544,001350: 23,2205           30323                           CA       CPSI                                  
022545,001351: 23,2206           55637                           TS       CDUZD                                 
022546,001352: 23,2207           00003                           RELINT                                         
022547,001353: 23,2210  E7,1456                                  EBANK=   LOSCOUNT                              
022548,001354: 23,2210           35016                           CAF      EBANK7                                
022549,001355: 23,2211           54003                           TS       EBANK                                 
022550,001356: 23,2212           02236                           TC       R61C+L06                              
022551,001357: 23,2213           77776        R61C+L05           EXIT                                           
022552,001358: 23,2214           00004                           INHINT                                         

Page 519

022554,001360: 23,2215           04674                           TC       IBNKCALL                              
022555,001361: 23,2216           40153                           FCADR    ZATTEROR                              
022556,001362: 23,2217           04674                           TC       IBNKCALL                              
022557,001363: 23,2220           40140                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
022558,001364: 23,2221           05516                           TC       DOWNFLAG                              
022559,001365: 23,2222           00124                           ADRES    3AXISFLG                              
022560,001366: 23,2223           05504                           TC       UPFLAG                                
022561,001367: 23,2224           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
022562,001368: 23,2225           04616                           TC       BANKCALL                              
022563,001369: 23,2226           54123                           CADR     R60LEM                                
022564,001370: 23,2227           00004                           INHINT                                         
022565,001371: 23,2230           04674                           TC       IBNKCALL                              
022566,001372: 23,2231           40123                           FCADR    RESTORDB                              
022567,001373: 23,2232           05353                           TC       PHASCHNG                              
022568,001374: 23,2233           04022                           OCT      04022                                 
022569,001375: 23,2234           05516                           TC       DOWNFLAG                              
022570,001376: 23,2235           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
022571,001377: 23,2236           30075        R61C+L06           CA       FLAGWRD1                              
022572,001378: 23,2237           74742                           MASK     R61FLBIT                              
022573,001379: 23,2240           10000                           CCS      A                                     
022574,001380: 23,2241           02262                           TC       R61C+L4                               
022575,001381: 23,2242           11745                           CCS      R65CNTR                               
022576,001382: 23,2243           02245                           TC       +2                                    
022577,001383: 23,2244           02262                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
022578,001384: 23,2245           55745                           TS       R65CNTR                               
022579,001385: 23,2246           32276                           CAF      06SEC                                 
022580,001386: 23,2247           05173                           TC       TWIDDLE                               
022581,001387: 23,2250           02252                           ADRES    R61C+L2                               
022582,001388: 23,2251           05155                           TC       ENDOFJOB                              
022583,001389: 23,2252           37714        R61C+L2            CAF      PRIO26                                
022584,001390: 23,2253           05105                           TC       FINDVAC                               
022585,001391: 23,2254  E7,1456                                  EBANK=   LOSCOUNT                              
022586,001392: 23,2254           02127 46067                     2CADR    R61C+L01                              
022587,001393: 
022588,001394: 23,2256           05261                           TC       TASKOVER                              
022589,001395: 23,2257           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
022590,001396: 23,2260           54266                           CADR     BALLANGS                              
022591,001397: 23,2261           02236                           TC       R61C+L06                              
022592,001398: 23,2262           31143        R61C+L4            CAE      GENRET                                
022593,001399: 23,2263           14640                           TCF      BANKJUMP                              #  EXIT R61
022594,001400: 23,2264           32273        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
022595,001401: 23,2265           70074                           MASK     STATE                                 
022596,001402: 23,2266           00006                           EXTEND                                         
022597,001403: 23,2267           15155                           BZF      ENDOFJOB                              #  NO - EXIT ROUTINE AND PROGRAM.
022598,001404: 23,2270           02236                           TC       R61C+L06                              #  YES EXIT ROUTINE
022599,001405: 23,2271           04635        R65WAIT            TC       POSTJUMP                              
022600,001406: 23,2272           50232                           CADR     P20LEMWT                              
022601,001407: 
022602,001408: 23,2273           00500        BIT7+9PV           OCT      00500                                 

Page 520

022604,001410: 23,2274           17350 34602  COS15DEG           2DEC     0.96593    B-1                        
022605,001411: 
022606,001412: 23,2276           01130        06SEC              DEC      600        B-14                       
022607,001413: 23,2277                        PHI                EQUALS   20D                                   
022608,001414: 23,2277           00004        READCDUD           INHINT                                         #  READS DESIRED CDU'S AND STORES IN
022609,001415: 23,2300           35015                           CAF      EBANK6                                #  MPAC TP EXITS WITH MODE SET TO TP
022610,001416: 23,2301           56003                           XCH      EBANK                                 
022611,001417: 23,2302           54070                           TS       RUPTREG1                              
022612,001418: 23,2303  E6,1635                                  EBANK=   CDUXD                                 
022613,001419: 23,2303           31635                           CA       CDUXD                                 
022614,001420: 23,2304           54154                           TS       MPAC                                  
022615,001421: 23,2305           00006                           EXTEND                                         
022616,001422: 23,2306           31637                           DCA      CDUYD                                 
022617,001423: 23,2307           52156                           DXCH     MPAC       +1                         
022618,001424: 23,2310           30070                           CA       RUPTREG1                              
022619,001425: 23,2311           54003                           TS       EBANK                                 
022620,001426: 23,2312           00003                           RELINT                                         
022621,001427: 23,2313           16477                           TCF      TMODE                                 
022622,001428:    4512                                           BLOCK    02                                    
022623,001429:    4000                                           SETLOC   RADARFF                               
022624,001430:    4000                                           BANK                                           
022625,001431: 
022626,001432:    4512  E7,1456                                  EBANK=   LOSCOUNT                              
022627,001433:    4512                                           COUNT*   $$/RRSUB                              
022628,001434: 

Page 521

022630,001436:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022631,001437:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1.  OTHERWISE IT RETURNS TO CALLER +3.  MAY BE CALLED IN RUPT OR UNDER EXEC.
022632,001438: 
022633,001439:    4512           00006        MAGSUB             EXTEND                                         
022634,001440:    4513           64515                           BZMF     +2                                    
022635,001441:    4514           14516                           TCF      +2                                    
022636,001442:    4515           40000                           COM                                            
022637,001443: 
022638,001444:    4516           50002                           INDEX    Q                                     
022639,001445:    4517           60000                           AD       0                                     
022640,001446:    4520           00006                           EXTEND                                         
022641,001447:    4521           66741                           BZMF     Q+2                                   #  ABS(A) <= CONST GO TO L+3
022642,001448:    4522           16737                           TCF      Q+1                                   #  ABS(A) > CONST GO TO L+2
022643,001449: 

Page 522

022645,001451:                                                                                                  #  PROGRAM NAME_ RRLIMCHK                                                        ARE IN THE LIMITS OF THE CURRENT MODE.
022646,001452: 
022647,001453:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022648,001454: 
022649,001455:                                                                                                  #        RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022650,001456:                                                                                                  #        THE LIMITS OF THE CURRENT MODE.  INITIALLY THE DESIRED TRUNNION AND
022651,001457:                                                                                                  #        SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2.  THE CURRENT RR
022652,001458:                                                                                                  #        ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022653,001459:                                                                                                  #        MODE 1 AND =1 FOR MODE 2.
022654,001460: 
022655,001461:                                                                                                  #        MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022656,001462:                                                                                                  #        BETWEEN -55 AND +55 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN LIMITS,
022657,001463:                                                                                                  #        THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022658,001464:                                                                                                  #        IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN TO L +3.
022659,001465: 
022660,001466:                                                                                                  #        MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022661,001467:                                                                                                  #        BETWEEN -139 AND -25 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN
022662,001468:                                                                                                  #        LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022663,001469:                                                                                                  #        AND -125 (+235) DEGREES.  IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN
022664,001470:                                                                                                  #        TO L +3.
022665,001471: 
022666,001472:                                                                                                  #  CALLING SEQUENCE:
022667,001473: 
022668,001474:                                                                                                  #        L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
022669,001475:                                                                                                  #        L  +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
022670,001476: 
022671,001477:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022672,001478: 
022673,001479:                                                                                                  #        RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022674,001480:                                                                                                  #        ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022675,001481:                                                                                                  #        CURRENT EBANK).
022676,001482: 
022677,001483:                                                                                                  #  SUBROUTINES CALLED_   MAGSUB
022678,001484: 
022679,001485:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022680,001486: 
022681,001487:                                                                                                  #  ALARMS_  NONE
022682,001488: 
022683,001489:                                                                                                  #  EXIT_         L + 2   (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022684,001490:                                                                                                  #                L + 3   (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022685,001491: 
022686,001492:    4523           00006        RRLIMCHK           EXTEND                                         
022687,001493:    4524           50002                           INDEX    Q                                     
022688,001494:    4525           50000                           INDEX    0                                     
022689,001495:    4526           30001                           DCA      0                                     
022690,001496:    4527           24002                           INCR     Q                                     
022691,001497:    4530           52062                           DXCH     ITEMP1                                
022692,001498:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
022693,001499: 
022694,001500:    4532           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
022695,001501:    4533           70110                           MASK     RADMODES                              
022696,001502:    4534           10000                           CCS      A                                     
022697,001503:    4535           14550                           TCF      MODE2CHK                              
022698,001504: 
022699,001505:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS

Page 523

022701,001507:    4537           04512                           TC       MAGSUB                                #        1. ABS(T) L 55 DEGS.
022702,001508:    4540           66161                           DEC      -.30555                               #        2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022703,001509:    4541           00001                           TC       L                                     #                (SHAFT LIMITS AT +59, -70 DEGS)
022704,001510: 
022705,001511:    4542           34562                           CAF      5.5DEGS                               
022706,001512:    4543           60062                           AD       ITEMP2                                #  S
022707,001513:    4544           04512                           TC       MAGSUB                                
022708,001514:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
022709,001515:    4546           00001                           TC       L                                     
022710,001516:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
022711,001517: 
022712,001518:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
022713,001519:    4551           60062                           AD       ITEMP2                                #        1. ABS(T) G 125 DEGS.
022714,001520:    4552           04512                           TC       MAGSUB                                #        2. ABS(S + 82 DEGS) L 57 DEGS
022715,001521:    4553           65673                           DEC      -.31667                               #                (SHAFT LIMITS AT -25, -139 DEGS)
022716,001522:    4554           00001                           TC       L                                     
022717,001523: 
022718,001524:    4555           30061                           CA       ITEMP1                                
022719,001525:    4556           04512                           TC       MAGSUB                                
022720,001526:    4557           51615                           DEC      -.69444                               #  125 DEGS
022721,001527: 
022722,001528:    4560           50001        RRLIMOK            INDEX    L                                     
022723,001529:    4561           00001                           TC       L                                     #  ( = TC 1 )
022724,001530: 
022725,001531:    4562           00765        5.5DEGS            DEC      .03056                                
022726,001532:    4563           16450        82DEGS             DEC      .45556                                
022727,001533: 

Page 524

022729,001535:                                                                                                  #  PROGRAM NAME_ SETTRKF                                                         . IF EITHER:
022730,001536: 
022731,001537:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022732,001538:                                                                                                  #        SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.                      HER THE ALT OR VEL INFORMATION.
022733,001539:                                                                                                  #        INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022734,001540:                                                                                                  #        IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022735,001541:                                                                                                  #        IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022736,001542:                                                                                                  #                1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022737,001543:                                                                                                  #                   AUTO MODE (RADMODES BITS 13, 7, 2).
022738,001544:                                                                                                  #                2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022739,001545:                                                                                                  #                   8,5)
022740,001546:                                                                                                  #                3) NO RR DATA (RADMODES BIT 4)
022741,001547:                                                                                                  #        THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022742,001548:                                                                                                  #        IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022743,001549:                                                                                                  #        LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022744,001550:                                                                                                  #        THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022745,001551:                                                                                                  #        TRACKER FAIL LAMP IS TURNED ON IF_
022746,001552:                                                                                                  #                A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022747,001553:                                                                                                  #                B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022748,001554:                                                                                                  #                   EITHER THE ALT OR VEL INFORMATION
022749,001555:                                                                                                  #                C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022750,001556:                                                                                                  #                   WITH EITHER THE AL
022751,001557: 
022752,001558:                                                                                                  #  CALLING SEQUENCE:
022753,001559: 
022754,001560:                                                                                                  #        L       TC      SETTRKF
022755,001561: 
022756,001562:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:  IMODES33, RADMODES, DSPTAB +11D
022757,001563: 
022758,001564:                                                                                                  #  SUBROUTINES CALLED_  NONE
022759,001565: 
022760,001566:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022761,001567: 
022762,001568:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
022763,001569: 
022764,001570:                                                                                                  #  EXIT_  L +1 (ALWAYS)                                                          ED.
022765,001571: 
022766,001572:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
022767,001573:    4565           71303                           MASK     IMODES33                              
022768,001574:    4566           10000                           CCS      A                                     
022769,001575:    4567           00002                           TC       Q                                     
022770,001576: 
022771,001577:    4570           34744        RRTRKF             CA       BIT8                                  
022772,001578:    4571           54001                           TS       L                                     
022773,001579: 
022774,001580:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
022775,001581:    4573           70110                           MASK     RADMODES                              
022776,001582:    4574           00006                           EXTEND                                         
022777,001583:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
022778,001584: 
022779,001585:    4576           34750        RRCHECK            CAF      RRDATABT                              #  SEE IF RR DATA FAILED.
022780,001586:    4577           70110                           MASK     RADMODES                              

Page 525

022782,001588:    4600           10000                           CCS      A                                     
022783,001589:    4601           30001        TRKFLON            CA       L                                     
022784,001590:    4602           61036                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
022785,001591:    4603           70001                           MASK     L                                     
022786,001592:    4604           00006                           EXTEND                                         
022787,001593:    4605           16742                           BZF      TCQ                                   #  NO CHANGE.
022788,001594: 
022789,001595:    4606           31036        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
022790,001596:    4607           00006                           EXTEND                                         
022791,001597:    4610           06001                           RXOR     LCHAN                                 
022792,001598:    4611           74733                           MASK     POSMAX                                
022793,001599:    4612           64735                           AD       BIT15                                 
022794,001600:    4613           55036                           TS       DSPTAB     +11D                       
022795,001601:    4614           00002                           TC       Q                                     
022796,001602: 
022797,001603:    4615           10102        13,7,2             OCT      10102                                 
022798,001604:    4616                        ENDRMODF           EQUALS                                         
022799,001605: 

Page 526

022801,001607:                                                                                                  #  PROGRAM NAME_  RRTURNON
022802,001608: 
022803,001609:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022804,001610: 
022805,001611:                                                                                                  #        RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022806,001612:                                                                                                  #        RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022807,001613:                                                                                                  #        INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022808,001614:                                                                                                  #        ACTUAL TURN-ON SEQUENCE.  UPON RETURN THE PROGRAM
022809,001615:                                                                                                  #        WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022810,001616:                                                                                                  #        (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022811,001617:                                                                                                  #        INITIATE PROGRAM ALARM 00501.  A CHECK IS THEN MADE
022812,001618:                                                                                                  #        TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7).  IF
022813,001619:                                                                                                  #        SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022814,001620:                                                                                                  #        FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022815,001621:                                                                                                  #        RETURNING TO THE WAITING PROGRAM.  IF NOT, THE PROGRAM EXITS
022816,001622:                                                                                                  #        TO TASKOVER.
022817,001623: 
022818,001624:                                                                                                  #  CALLING SEQUENCE:  WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022819,001625:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING 
022820,001626:                                                                                                  #  THE RR (STATE BIT 7).
022821,001627: 
022822,001628:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022823,001629: 
022824,001630:                                                                                                  #        RADMODES, STATE
022825,001631: 
022826,001632:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022827,001633: 
022828,001634:                                                                                                  #  JOBS OR TASKS INITIATED_
022829,001635:                                                                                                  #        
022830,001636:                                                                                                  #        NONE
022831,001637: 
022832,001638:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
022833,001639: 
022834,001640:                                                                                                  #  EXIT_  TASKOVER, ENDRADAR (WAITING PROGRAM)
022835,001641: 
022836,001642: 24,3255                                           BANK     24                                    
022837,001643: 25,2000                                           SETLOC   P20S1                                 
022838,001644: 25,2000                                           BANK                                           
022839,001645: 
022840,001646: 25,2062  E7,1456                                  EBANK=   LOSCOUNT                              
022841,001647: 25,2062                                           COUNT*   $$/RSUB                               
022842,001648: 25,2062           02071        RRTURNON           TC       RRZEROSB                              
022843,001649: 25,2063           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022844,001650: 25,2064           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
022845,001651: 25,2065           44753                           CS       TURNONBT                              
022846,001652: 25,2066           70110                           MASK     RADMODES                              
022847,001653: 25,2067           54110                           TS       RADMODES                              
022848,001654: 25,2070           15261                           TCF      TASKOVER                              

Page 527

022850,001656:                                                                                                  #  PROGRAM NAME_  RRZEROSB
022851,001657: 
022852,001658:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022853,001659:                                                                                                  #        RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022854,001660:                                                                                                  #        DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022855,001661:                                                                                                  #        LAMP IF REQUIRED.  INITIALLY THE RR CDU ZERO BIT (CHAN 12
022856,001662:                                                                                                  #        BIT 1) IS SET.  FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022857,001663:                                                                                                  #        RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER 
022858,001664:                                                                                                  #        WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022859,001665:                                                                                                  #        REMOVED.  A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022860,001666:                                                                                                  #        TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES.  THE
022861,001667:                                                                                                  #        RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED.  THE
022862,001668:                                                                                                  #        CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022863,001669:                                                                                                  #        ANGLE IS LESS THAN 90 DEGREES.  IF NOT, BIT 12 OF
022864,001670:                                                                                                  #        RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022865,001671:                                                                                                  #        IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022866,001672:                                                                                                  #        INDICATE RR ANTENNA MODE 1.  SETTRKF IS THEN CALLED TO
022867,001673:                                                                                                  #        SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022868,001674: 
022869,001675:                                                                                                  #  CALLING SEQUENCE:  L  TC  RRZEROSB  (FROM RRTURNON AND RRZERO)
022870,001676: 
022871,001677:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022872,001678: 
022873,001679:                                                                                                  #        RADMODES (BIT 13 SET), DSPTAB +11D
022874,001680: 
022875,001681:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
022876,001682: 
022877,001683:                                                                                                  #  JOBS OR TASKS INITIATED_
022878,001684: 
022879,001685:                                                                                                  #        NONE
022880,001686: 
022881,001687:                                                                                                  #  ALARMS_  TRACKER FAIL
022882,001688: 
022883,001689:                                                                                                  #  EXIT_  L +1 (ALWAYS)
022884,001690: 
022885,001691: 25,2071           00006        RRZEROSB           EXTEND                                         
022886,001692: 25,2072           23315                           QXCH     RRRET                                 
022887,001693: 25,2073           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
022888,001694: 25,2074           00006                           EXTEND                                         #  COMING HERE.
022889,001695: 25,2075           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
022890,001696: 25,2076           05221                           TC       FIXDELAY                              
022891,001697: 25,2077           00002                           DEC      2          B-14                       
022892,001698: 
022893,001699: 25,2100           34755                           CAF      ZERO                                  
022894,001700: 25,2101           54035                           TS       CDUT                                  
022895,001701: 25,2102           54036                           TS       CDUS                                  
022896,001702: 25,2103           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
022897,001703: 25,2104           00006                           EXTEND                                         
022898,001704: 25,2105           03012                           WAND     CHAN12                                
022899,001705: 25,2106           05221                           TC       FIXDELAY                              
022900,001706: 25,2107           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
022901,001707: 
022902,001708: 25,2110           44737                           CS       RCDU0BIT                              #  REMOVE ZEROING IN PROCESS BIT.

Page 528

022904,001710: 25,2111           70110                           MASK     RADMODES                              
022905,001711: 25,2112           54110                           TS       RADMODES                              
022906,001712: 
022907,001713: 25,2113           30035                           CA       CDUT                                  
022908,001714: 25,2114           04512                           TC       MAGSUB                                
022909,001715: 25,2115           57777                           DEC      -.5                                   
022910,001716: 25,2116           12121                           TCF      +3                                    #  IF MODE 2.
022911,001717: 
022912,001718: 25,2117           34755                           CAF      ZERO                                  
022913,001719: 25,2120           12122                           TCF      +2                                    
022914,001720: 25,2121           34740                           CAF      ANTENBIT                              
022915,001721: 25,2122           56110                           XCH      RADMODES                              
022916,001722: 25,2123           77741                           MASK     -BIT12                                
022917,001723: 25,2124           26110                           ADS      RADMODES                              
022918,001724: 
022919,001725: 25,2125           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
022920,001726: 
022921,001727: 25,2126           01315                           TC       RRRET                                 #  DONE.
022922,001728: 
022923,001729: 25,2127     7741               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
022924,001730: 

Page 529

022926,001732:                                                                                                  #  PROGRAM NAME_  DORREPOS
022927,001733: 
022928,001734:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022929,001735: 
022930,001736:                                                                                                  #        DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022931,001737:                                                                                                  #        TO A SAFE POSITION.  INITIALLY SETRRECR IS CALLED WHERE THE RR
022932,001738:                                                                                                  #        ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022933,001739:                                                                                                  #        AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022934,001740:                                                                                                  #        DESIRED STATE AND PRESENT STATE OF THE COMMANDS.  THE RR
022935,001741:                                                                                                  #        TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022936,001742:                                                                                                  #        PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING.  IN EITHER
022937,001743:                                                                                                  #        CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022938,001744:                                                                                                  #        RR ANTENNA MODE (RADMODES BIT 12).  RRTONLY IS THEN CALLED
022939,001745:                                                                                                  #        TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022940,001746:                                                                                                  #        DEGREES IF IN MODE 2.  UPON RETURN, THE CURRENT RR ANTENNA
022941,001747:                                                                                                  #        MODE (RADMODES BIT 12) IS AGAIN CHECKED.  RRSONLY IS THEN
022942,001748:                                                                                                  #        CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022943,001749:                                                                                                  #        -90 DEGREES IF IN MODE 2.  IF DURING RRTONLY OR RRSONLY A
022944,001750:                                                                                                  #        REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022945,001751:                                                                                                  #        FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022946,001752:                                                                                                  #        REPOSRPT.  HERE THE REPOSITION FLAG (RADMODES BIT 11) IS 
022947,001753:                                                                                                  #        REMOVED.  A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022948,001754:                                                                                                  #        BIT 10).  IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES.  IF NOT PRESENT
022949,001755:                                                                                                  #        INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022950,001756:                                                                                                  #        COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022951,001757:                                                                                                  #        TASKOVER.
022952,001758: 
022953,001759:                                                                                                  #  CALLING SEQUENCE:
022954,001760: 
022955,001761:                                                                                                  #        WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022956,001762:                                                                                                  #        NOT WITHIN LIMITS OF CURRENT MODE.
022957,001763: 
022958,001764:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022959,001765: 
022960,001766:                                                                                                  #        RADMODES
022961,001767: 
022962,001768:                                                                                                  #  SUBROUTINES CALLED_
022963,001769: 
022964,001770:                                                                                                  #        RRTONLY, RRSONLY, BEGDES (EXIT)
022965,001771: 
022966,001772:                                                                                                  #  JOBS OR TASKS INITIATED_
022967,001773: 
022968,001774:                                                                                                  #        NONE
022969,001775: 
022970,001776:                                                                                                  #  ALARMS-  NONE
022971,001777: 
022972,001778:                                                                                                  #  EXIT_  TASKOVER, BEGDES
022973,001779: 
022974,001780: 25,2127           02156        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
022975,001781: 
022976,001782:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022977,001783: 
022978,001784: 25,2130           05221                           TC       FIXDELAY                              
022979,001785: 25,2131           00002                           DEC      2          B-14                       
022980,001786: 
022981,001787: 25,2132           34740                           CAF      ANTENBIT                              #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.

Page 530

022983,001789: 25,2133           70110                           MASK     RADMODES                              
022984,001790: 25,2134           10000                           CCS      A                                     
022985,001791: 25,2135           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
022986,001792: 25,2136           02241                           TC       RRTONLY                               
022987,001793: 
022988,001794: 25,2137           34740                           CAF      ANTENBIT                              #  NOW PUT SHAFT IN RIGHT POSITION
022989,001795: 25,2140           70110                           MASK     RADMODES                              
022990,001796: 25,2141           10000                           CCS      A                                     
022991,001797: 25,2142           44736                           CS       HALF                                  #  -90 FOR MODE 2.
022992,001798: 25,2143           02244                           TC       RRSONLY                               
022993,001799: 
022994,001800: 25,2144           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
022995,001801:                                                                                                  #  REQUESTED DURING REPOSITION.
022996,001802: 25,2145           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
022997,001803: 25,2146           54110                           TS       RADMODES                              
022998,001804: 25,2147           74742                           MASK     DESIGBIT                              #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
022999,001805: 25,2150           10000                           CCS      A                                     
023000,001806: 25,2151           12573                           TCF      BEGDES                                
023001,001807: 25,2152           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
023002,001808: 25,2153           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
023003,001809: 25,2154           03012                           WAND     CHAN12                                
023004,001810: 25,2155           15261                           TCF      TASKOVER                              
023005,001811: 
023006,001812: 25,2156           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
023007,001813: 25,2157           00006                           EXTEND                                         
023008,001814: 25,2160           02012                           RAND     CHAN12                                
023009,001815: 25,2161           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
023010,001816: 25,2162           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
023011,001817: 
023012,001818: 25,2163           54112                           TS       LASTYCMD                              
023013,001819: 25,2164           54113                           TS       LASTXCMD                              
023014,001820: 25,2165           34752                           CAF      BIT2                                  
023015,001821: 25,2166           00006                           EXTEND                                         
023016,001822: 25,2167           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
023017,001823: 25,2170           00002                           TC       Q                                     

Page 531

023019,001825:                                                                                                  #  PROGRAM NAME_  REMODE                                                         IVES SHAFT TO -45, AND FINALLY DRIVES
023020,001826: 
023021,001827:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       S DONE WITH SINGLE AXIS ROTATIONS (SEE
023022,001828:                                                                                                  #        REMODE IS THE GENERAL REMODING SUBROUTINE.  IT DRIVES THE
023023,001829:                                                                                                  #        TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023024,001830:                                                                                                  #        180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023025,001831:                                                                                                  #        DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023026,001832:                                                                                                  #        TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023027,001833:                                                                                                  #        INITIATING 2-AXIS CONTROL.  ALL REMODING IS DONE WITH SINGLE
023028,001834:                                                                                                  #        AXIS ROTATIONS (RR1AXIS).  INITIALLY THE RR ANTENNA MODE FLAG
023029,001835:                                                                                                  #        (RADMODES BIT 12) IS CHECKED.  CONTROL IS THEN TRANSFERRED TO
023030,001836:                                                                                                  #        RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023031,001837:                                                                                                  #        OR 180 DEGREES IF IN MODE 2.  RRSONLY IS THEN CALLED TO DRIVE
023032,001838:                                                                                                  #        THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023033,001839:                                                                                                  #        (RADMODES BIT 12) IS CHECKED AGAIN.  CONTROL IS AGAIN
023034,001840:                                                                                                  #        TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023035,001841:                                                                                                  #        DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023036,001842:                                                                                                  #        -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1.  RMODINV
023037,001843:                                                                                                  #        IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023038,001844:                                                                                                  #        RR ANTENNA MODE.  THE REMODE FLAG (RADMODES BIT 14)
023039,001845:                                                                                                  #        IS REMOVED TO INDICATE THAT REMODING IS COMPLETE.  THE PROGRAM
023040,001846:                                                                                                  #        THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023041,001847: 
023042,001848:                                                                                                  #  CALLING SEQUENCE:
023043,001849: 
023044,001850:                                                                                                  #        FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023045,001851:                                                                                                  #        THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023046,001852:                                                                                                  #        DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023047,001853:                                                                                                  #        OTHER MODE.
023048,001854: 
023049,001855:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023050,001856: 
023051,001857:                                                                                                  #        RADMODES
023052,001858: 
023053,001859:                                                                                                  #  SUBROUTINES CALLED_
023054,001860: 
023055,001861:                                                                                                  #        RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023056,001862: 
023057,001863:                                                                                                  #  JOBS OR TASKS INITIATED_
023058,001864: 
023059,001865:                                                                                                  #        NONE
023060,001866: 
023061,001867:                                                                                                  #  ALARMS_  NONE
023062,001868: 
023063,001869:                                                                                                  #  EXIT_  STDESIG
023064,001870: 
023065,001871: 25,2171           34740        REMODE             CAF      ANTENBIT                              #  DRIVE TRUNNION TO 0 (180)
023066,001872: 25,2172           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
023067,001873: 25,2173           10000                           CCS      A                                     
023068,001874: 25,2174           34735                           CAF      BIT15                                 
023069,001875: 25,2175           02241                           TC       RRTONLY                               
023070,001876: 
023071,001877: 25,2176           37740                           CAF      -45DEGSR                              
023072,001878: 25,2177           02244                           TC       RRSONLY                               

Page 532

023074,001880: 25,2200           40110                           CS       RADMODES                              
023075,001881: 25,2201           74740                           MASK     ANTENBIT                              
023076,001882: 25,2202           10000                           CCS      A                                     
023077,001883: 25,2203           32232                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
023078,001884: 25,2204           62231                           AD       -50DEGSR                              
023079,001885: 25,2205           02241                           TC       RRTONLY                               
023080,001886: 
023081,001887: 25,2206           40110                           CS       RADMODES                              
023082,001888: 25,2207           74740                           MASK     ANTENBIT                              
023083,001889: 25,2210           10000                           CCS      A                                     
023084,001890: 25,2211           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
023085,001891: 25,2212           02241                           TC       RRTONLY                               
023086,001892: 
023087,001893: 25,2213           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
023088,001894: 25,2214           74740                           MASK     ANTENBIT                              
023089,001895: 25,2215           10000                           CCS      A                                     
023090,001896: 25,2216           44736                           CS       HALF                                  
023091,001897: 25,2217           02244                           TC       RRSONLY                               
023092,001898: 
023093,001899: 25,2220           02233                           TC       RMODINV                               
023094,001900: 
023095,001901: 25,2221           44736                           CS       REMODBIT                              #  END OF REMODE.
023096,001902: 25,2222           70110                           MASK     RADMODES                              
023097,001903: 25,2223           54110                           TS       RADMODES                              
023098,001904: 
023099,001905: 25,2224           34742                           CAF      DESIGBIT                              #  WAS REMODE CALLED DURING DESIGNATE?
023100,001906: 25,2225           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
023101,001907: 25,2226           00006                           EXTEND                                         
023102,001908: 25,2227           13555                           BZF      RGOODEND                              #  NO - RETURN TO CALLER WAITING IN RADSTALL
023103,001909: 25,2230           02602                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
023104,001910: 25,2231     7740               -45DEGSR           =        13,14,15                              
023105,001911: 25,2231           67070        -50DEGSR           DEC      -.27778                               
023106,001912: 25,2232           61615        -80DEGSR           DEC      -.44444                               
023107,001913: 
023108,001914: 25,2233           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
023109,001915: 25,2234           34740                           CAF      ANTENBIT                              
023110,001916: 25,2235           00006                           EXTEND                                         
023111,001917: 25,2236           06001                           RXOR     LCHAN                                 
023112,001918: 25,2237           54110                           TS       RADMODES                              
023113,001919: 25,2240           00002                           TC       Q                                     
023114,001920: 

Page 533

023116,001922:                                                                                                  #  PROGRAM NAMES_        RRTONLY, RRSONLY
023117,001923: 
023118,001924:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023119,001925: 
023120,001926:                                                                                                  #        RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023121,001927:                                                                                                  #        RR MANEUVERS FOR REMODE AND REPOSITION.  IT DRIVES TO
023122,001928:                                                                                                  #        WITHIN 1 DEGREE.  INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023123,001929:                                                                                                  #        FLAGS (RADMODES BITS 14, 11) ARE CHECKED.  IF BOTH EXIST,
023124,001930:                                                                                                  #        THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS).  THIS INDICATES
023125,001931:                                                                                                  #        THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023126,001932:                                                                                                  #        WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023127,001933:                                                                                                  #        REPOSITION IS IN PROGRESS (RADMODES BIT 11).  IF NONE
023128,001934:                                                                                                  #        OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023129,001935:                                                                                                  #        IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE.  IF YES,
023130,001936:                                                                                                  #        CONTROL RETURNS TO THE CALLING ROUTINE.  IF NOT, CONTROL IS
023131,001937:                                                                                                  #        TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023132,001938:                                                                                                  #        ANGLE SET = 0.  FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023133,001939:                                                                                                  #        REPEATED.
023134,001940: 
023135,001941:                                                                                                  #  CALLING SEQUENCE:     L-1     CAF     *ANGLE*         (DESIRED ANGLE SCALED PI)
023136,001942:                                                                                                  #                        L       TC      RRTONLY         (TRUNNION ONLY)
023137,001943:                                                                                                  #                        RRSONLY                         (SHAFT ONLY)
023138,001944:                                                                                                  #                        RRTONLY IS CALLED BY PREPOS29;
023139,001945:                                                                                                  #                        RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023140,001946: 
023141,001947:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023142,001948: 
023143,001949:                                                                                                  #        C(A) = DESIRED ANGLE, RADMODES
023144,001950: 
023145,001951:                                                                                                  #  SUBROUTINES CALLED_
023146,001952: 
023147,001953:                                                                                                  #        FIXDELAY, REPOSRPT, MAGSUB, RROUT
023148,001954: 
023149,001955:                                                                                                  #  JOBS OR TASKS INITIATED_
023150,001956: 
023151,001957:                                                                                                  #        NONE
023152,001958: 
023153,001959:                                                                                                  #  ALARMS_  NONE
023154,001960: 
023155,001961:                                                                                                  #  EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023156,001962:                                                                                                  #        BITS 14, 11)
023157,001963:                                                                                                  #        L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023158,001964: 
023159,001965: 25,2241           55316        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
023160,001966: 25,2242           34755                           CAF      ZERO                                  
023161,001967: 25,2243           12246                           TCF      RR1AXIS                               
023162,001968: 
023163,001969: 25,2244           55316        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023164,001970: 25,2245           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023165,001971: 
023166,001972: 25,2246           55317        RR1AXIS            TS       RRINDEX                               
023167,001973: 25,2247           00006                           EXTEND                                         
023168,001974: 25,2250           23315                           QXCH     RRRET                                 
023169,001975: 25,2251           12254                           TCF      RR1AX2                                
023170,001976: 

Page 534

023172,001978: 25,2252           05221        NXTRR1AX           TC       FIXDELAY                              
023173,001979: 25,2253           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
023174,001980: 
023175,001981: 25,2254           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
023176,001982: 25,2255           77710                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
023177,001983: 25,2256           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
023178,001984: 25,2257           12144                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
023179,001985: 
023180,001986: 25,2260           31316                           CA       RDES                                  
023181,001987: 25,2261           00006                           EXTEND                                         
023182,001988: 25,2262           51317                           INDEX    RRINDEX                               
023183,001989: 25,2263           20035                           MSU      CDUT                                  
023184,001990: 25,2264           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
023185,001991: 25,2265           00006                           EXTEND                                         
023186,001992: 25,2266           72305                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
023187,001993: 25,2267           54001                           TS       L                                     
023188,001994: 25,2270           30110                           CA       RADMODES                              
023189,001995: 25,2271           74752                           MASK     AUTOMBIT                              
023190,001996: 25,2272           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
023191,001997: 25,2273           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
023192,001998: 25,2274           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
023193,001999: 
023194,002000: 25,2275           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
023195,002001: 25,2276           01315                           TC       RRRET                                 #  RETURN TO CALLER.
023196,002002: 
023197,002003: 25,2277           11317                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
023198,002004: 25,2300           12302                           TCF      +2                                    #  SETTING A TO 0.
023199,002005: 25,2301           56001                           XCH      L                                     
023200,002006: 25,2302           53110                           DXCH     TANG                                  
023201,002007: 
023202,002008: 25,2303           02306                           TC       RROUT                                 
023203,002009: 
023204,002010: 25,2304           12252                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
023205,002011: 
023206,002012: 25,2305           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
023207,002013: 

Page 535

023209,002015:                                                                                                  #  PROGRAM NAME_  RROUT                                                          RROR COUNTER SCALING. RROUT LIMITS THEM
023210,002016: 
023211,002017:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023212,002018: 
023213,002019:                                                                                                  #        RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023214,002020:                                                                                                  #        ERROR COUNTER SCALING.  RROUT THEN LIMITS THEM AND
023215,002021:                                                                                                  #        GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023216,002022:                                                                                                  #        TO THE DESIRED VALUES.  INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023217,002023:                                                                                                  #        THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023218,002024:                                                                                                  #        384 PULSES.  IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023219,002025:                                                                                                  #        LIMIT THE COMMAND TO +384 OR -384 PULSES.  THE DIFFERENCE IS
023220,002026:                                                                                                  #        THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023221,002027:                                                                                                  #        THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023222,002028:                                                                                                  #        THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023223,002029:                                                                                                  #        PASS).  FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023224,002030:                                                                                                  #        OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023225,002031:                                                                                                  #        ARE SET.  THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023226,002032: 
023227,002033:                                                                                                  #  CALLING SEQUENCE:
023228,002034:                                                                                                  #        
023229,002035:                                                                                                  #        L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023230,002036:                                                                                                  #        RRTONLY, RRSONLY, AND DODES
023231,002037: 
023232,002038:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023233,002039: 
023234,002040:                                                                                                  #        TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023235,002041:                                                                                                  #        (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023236,002042: 
023237,002043:                                                                                                  #  SUBROUTINES CALLED_
023238,002044: 
023239,002045:                                                                                                  #        MAGSUB
023240,002046: 
023241,002047:                                                                                                  #  JOBS OR TASKS INITIATED_
023242,002048: 
023243,002049:                                                                                                  #        NONE
023244,002050: 
023245,002051:                                                                                                  #  ALARMS_  NONE
023246,002052: 
023247,002053:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                                           SIRED VALUES. RUPT MUST BE INHIBITED.
023248,002054: 
023249,002055: 25,2306           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
023250,002056: 25,2307           34753                           CAF      ONE                                   #  LOOP TWICE.
023251,002057: 25,2310           54062        RROUT2             TS       ITEMP2                                
023252,002058: 25,2311           50000                           INDEX    A                                     
023253,002059: 25,2312           31107                           CA       TANG                                  
023254,002060: 25,2313           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
023255,002061: 
023256,002062: 25,2314           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
023257,002063: 25,2315           77177        -RRLIMIT           DEC      -384       B-14                       
023258,002064: 25,2316           12335                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
023259,002065: 
023260,002066: 25,2317           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
023261,002067: 25,2320           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
023262,002068: 25,2321           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
023263,002069: 25,2322           40000                           COM                                            

Page 536

023265,002071: 25,2323           60061                           AD       ITEMP1                                
023266,002072: 25,2324           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
023267,002073: 25,2325           50062                           INDEX    ITEMP2                                
023268,002074: 25,2326           54053                           TS       CDUTCMD                               
023269,002075: 
023270,002076: 25,2327           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
023271,002077: 25,2330           12310                           TCF      RROUT2                                
023272,002078: 
023273,002079: 25,2331           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
023274,002080: 25,2332           00006                           EXTEND                                         
023275,002081: 25,2333           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
023276,002082: 25,2334           00001                           TC       L                                     #  RETURN.
023277,002083: 
023278,002084: 25,2335           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
023279,002085: 25,2336           42315                           CS       -RRLIMIT                              
023280,002086: 25,2337           12341                           TCF      +2                                    
023281,002087: 25,2340           32315                           CA       -RRLIMIT                              
023282,002088: 25,2341           54061                           TS       ITEMP1                                
023283,002089: 25,2342           12320                           TCF      SETRRCTR   +1                         
023284,002090: 

Page 537

023286,002092:                                                                                                  #  ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023287,002093: 
023288,002094: 25,2343           32372        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
023289,002095: 25,2344           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
023290,002096: 25,2345           10000                           CCS      A                                     
023291,002097: 25,2346           13530                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
023292,002098: 
023293,002099: 25,2347           00004                           INHINT                                         
023294,002100: 25,2350           44737                           CS       RCDU0BIT                              #  SET FLAG TO SHOW ZEROING IN PROGRESS.
023295,002101: 25,2351           70110                           MASK     RADMODES                              
023296,002102: 25,2352           64737                           AD       RCDU0BIT                              
023297,002103: 25,2353           54110                           TS       RADMODES                              
023298,002104: 
023299,002105: 25,2354           34753                           CAF      ONE                                   
023300,002106: 25,2355           05203                           TC       WAITLIST                              
023301,002107: 25,2356  E7,1456                                  EBANK=   LOSCOUNT                              
023302,002108: 25,2356           02370 52067                     2CADR    RRZ2                                  
023303,002109: 
023304,002110: 25,2360           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
023305,002111: 25,2361           74752                           MASK     AUTOMBIT                              
023306,002112: 25,2362           10000                           CCS      A                                     
023307,002113: 25,2363           12366                           TCF      ROADBACK                              
023308,002114: 25,2364           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
023309,002115: 25,2365           00510                           OCT      510                                   
023310,002116: 25,2366           00003        ROADBACK           RELINT                                         
023311,002117: 25,2367           14631                           TCF      SWRETURN                              
023312,002118: 
023313,002119: 25,2370           02071        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
023314,002120: 25,2371           13546                           TCF      ENDRADAR                              
023315,002121: 
023316,002122: 25,2372           02001        BIT11+1            OCT      02001                                 
023317,002123: 

Page 538

023319,002125:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                        R (HALF-UNIT) IN RRTARGET. REMODES IF
023320,002126: 
023321,002127:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023322,002128: 
023323,002129:                                                                                                  #        THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023324,002130:                                                                                                  #        WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023325,002131:                                                                                                  #        (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023326,002132:                                                                                                  #        ORIENTATION.  INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023327,002133:                                                                                                  #        TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023328,002134:                                                                                                  #        MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023329,002135:                                                                                                  #        RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023330,002136:                                                                                                  #        TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023331,002137:                                                                                                  #        RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023332,002138:                                                                                                  #        PRESENT MODE ARE WITHIN LIMITS.  IF WITHIN LIMITS, THE RETURN
023333,002139:                                                                                                  #        LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023334,002140:                                                                                                  #        REQUIRED, BEFORE EXITING TO STARTDES.  IF NOT WITHIN LIMITS OF THE
023335,002141:                                                                                                  #        CURRENT MODE, TRYSWS IS CALLED.  FOLLOWING INVERTING OF THE RR
023336,002142:                                                                                                  #        ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023337,002143:                                                                                                  #        TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023338,002144:                                                                                                  #        LIMITS.  IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023339,002145:                                                                                                  #        THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023340,002146:                                                                                                  #        INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023341,002147:                                                                                                  #        EXITING TO STARTDES.  IF THESE ANGLES ARE NOT WITHIN LIMITS
023342,002148:                                                                                                  #        OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023343,002149:                                                                                                  #        BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023344,002150:                                                                                                  #        TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023345,002151: 
023346,002152:                                                                                                  #  CALLING SEQUENCE:
023347,002153: 
023348,002154:                                                                                                  #        L       STCALL  RRTARGET        (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023349,002155:                                                                                                  #        L+1     RRDESSM
023350,002156:                                                                                                  #        L+2     BASIC                   (VEHICLE MANEUVER REQUIRED)
023351,002157:                                                                                                  #        L+3     BASIC                   (NO VEHICLE MANEUVER REQUIRED)
023352,002158: 
023353,002159:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023354,002160: 
023355,002161:                                                                                                  #        RRTARGET, RADMODES
023356,002162: 
023357,002163:                                                                                                  #  SUBROUTINES CALLED_
023358,002164: 
023359,002165:                                                                                                  #        READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023360,002166:                                                                                                  #        PART OF), RMODINV
023361,002167: 
023362,002168:                                                                                                  #  JOBS OR TASKS INITIATED_
023363,002169: 
023364,002170:                                                                                                  #        NONE
023365,002171: 
023366,002172:                                                                                                  #  ALARMS_  NONE
023367,002173: 
023368,002174:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023369,002175:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
023370,002176:                                                                                                  #  TO L+3 FROM STARTDES)                                                         CAN BE DONE IN PRESENT VEH ATTITUDE.
023371,002177: 
023372,002178: 25,2373           43020        RRDESSM            STQ      CLEAR                                 
023373,002179: 25,2374           01113                                    DESRET                                

Page 539

023375,002181: 25,2375           00271                                    RRNBSW                                
023376,002182: 25,2376           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
023377,002183: 25,2377           47537                                    CDUTRIG                               
023378,002184: 25,2400           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
023379,002185: 25,2401           01102                                    RRTARGET                              
023380,002186: 25,2402           47671                                    *SMNB*                                
023381,002187: 
023382,002188: 25,2403           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
023383,002189: 25,2404           26133                                    RRANGLES                              #  ALTERNATE MODE.
023384,002190: 25,2405           77776                           EXIT                                           
023385,002191: 
023386,002192: 25,2406           00004                           INHINT                                         
023387,002193: 25,2407           04523                           TC       RRLIMCHK                              
023388,002194: 25,2410           01107                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
023389,002195: 25,2411           02414                           TC       +3                                    #  NOT IN CURRENT MODE
023390,002196: 25,2412           25113        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023391,002197: 25,2413           02432                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
023392,002198: 25,2414           40104                           CS       FLAGWRD8                              
023393,002199: 25,2415           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023394,002200: 25,2416           00006                           EXTEND                                         
023395,002201: 25,2417           12456                           BZF      NORDSTAL                              #  BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023396,002202: 25,2420           02461                           TC       TRYSWS                                
023397,002203: 
023398,002204: 25,2421           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
023399,002205: 25,2422           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
023400,002206: 25,2423           00006                           EXTEND                                         
023401,002207: 25,2424           12456                           BZF      NORDSTAL                              #  BRANCH - YES - RETURN TO CALLER - ALARM 527
023402,002208: 25,2425           30074                           CA       STATE                                 
023403,002209: 25,2426           74745                           MASK     RNDVZBIT                              
023404,002210: 25,2427           10000                           CCS      A                                     #  TEST RNDVZFLG.
023405,002211: 25,2430           02471                           TC       NODESSM                               #  NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023406,002212: 25,2431           15155                           TCF      ENDOFJOB                              #  ... BUT NOT IN R29.
023407,002213: 

Page 540

023409,002215:                                                                                                  #  PROGRAM NAME_  STARTDES                                                       STORED AS A HALF-UNIT VECTOR IN RRTARGET
023410,002216: 
023411,002217:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       CKON IS DESIRED. BIT14 OF RADMODES IS
023412,002218:                                                                                                  #        STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
023413,002219:                                                                                                  #        BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
023414,002220:                                                                                                  #        AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
023415,002221:                                                                                                  #        OPERATION.  IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023416,002222:                                                                                                  #        ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023417,002223:                                                                                                  #        OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023418,002224:                                                                                                  #        DESIGNATION BEGINS.  INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023419,002225:                                                                                                  #        THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023420,002226:                                                                                                  #        (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5).  BIT 10
023421,002227:                                                                                                  #        OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023422,002228:                                                                                                  #        THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF SET,
023423,002229:                                                                                                  #        THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023424,002230:                                                                                                  #        AND RRDESNB).  THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023425,002231:                                                                                                  #        ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023426,002232:                                                                                                  #        REQUESTED.  IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023427,002233:                                                                                                  #        WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023428,002234:                                                                                                  #        AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023429,002235:                                                                                                  #        DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023430,002236:                                                                                                  #        COUNTERS.  A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023431,002237:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023432,002238: 
023433,002239:                                                                                                  #  CALLING SEQUENCE:
023434,002240: 
023435,002241:                                                                                                  #        FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023436,002242: 
023437,002243:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023438,002244: 
023439,002245:                                                                                                  #        RADMODES, (SEE DODES)
023440,002246: 
023441,002247:                                                                                                  #  SUBROUTINES CALLED_
023442,002248: 
023443,002249:                                                                                                  #        SETRRECR, WAITLIST
023444,002250: 
023445,002251:                                                                                                  #  JOBS OR TASKS INITIATED_
023446,002252: 
023447,002253:                                                                                                  #        BEGDES
023448,002254: 
023449,002255:                                                                                                  #  ALARMS_  NONE
023450,002256: 
023451,002257:                                                                                                  #  EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023452,002258:                                                                                                  #        L+2 OF CALLING PROGRAM (SEE RRDESNB)
023453,002259: 
023454,002260: 25,2432           25113        STARTDES           INCR     DESRET                                
023455,002261: 25,2433           40110                           CS       RADMODES                              
023456,002262: 25,2434           74742                           MASK     DESIGBIT                              
023457,002263: 25,2435           26110                           ADS      RADMODES                              
023458,002264: 25,2436           74741                           MASK     REPOSBIT                              #  SEE IF REPOSITIONING IN PROGRESS.
023459,002265: 25,2437           10000                           CCS      A                                     
023460,002266: 25,2440           12446                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
023461,002267: 
023462,002268: 25,2441           02156                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.

Page 541

023464,002270: 25,2442           34752                           CAF      TWO                                   
023465,002271: 25,2443           05203                           TC       WAITLIST                              
023466,002272: 25,2444  E7,1456                                  EBANK=   LOSCOUNT                              
023467,002273: 25,2444           02573 52067                     2CADR    BEGDES                                
023468,002274: 
023469,002275: 25,2446           31306        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
023470,002276: 25,2447           00006                           EXTEND                                         
023471,002277: 25,2450           12452                           BZF      DESRTRN                               #  YES   SET EXIT
023472,002278: 25,2451           05155                           TC       ENDOFJOB                              #  NO
023473,002279: 25,2452           00003        DESRTRN            RELINT                                         
023474,002280: 25,2453           25113                           INCR     DESRET                                
023475,002281: 25,2454           31113                           CA       DESRET                                
023476,002282: 25,2455           14640                           TCF      BANKJUMP                              
023477,002283: 
023478,002284: 25,2456           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE OUT ANYONE
023479,002285: 25,2457           55306                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
023480,002286: 25,2460           12452                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
023481,002287: 

Page 542

023483,002289:                                                                                                  #  SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023484,002290: 
023485,002291: 25,2461           02233        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
023486,002292: 25,2462           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
023487,002293: 25,2463           01111                           ADRES    MODEB                                 
023488,002294: 25,2464           12471                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
023489,002295: 
023490,002296: 25,2465           02233                           TC       RMODINV                               #  RESET BIT12
023491,002297: 25,2466           34736                           CAF      REMODBIT                              #  SET FLAG FOR REMODE.
023492,002298: 25,2467           26110                           ADS      RADMODES                              
023493,002299: 
023494,002300: 25,2470           12412                           TCF      OKDESSM                               
023495,002301: 
023496,002302: 25,2471           02233        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
023497,002303: 25,2472           25113                           INCR     DESRET                                #  TO CALLER +2
023498,002304: 25,2473           12456                           TCF      NORDSTAL                              
023499,002305: 
023500,002306: 25,2474           00074        MAXTRYS            DEC      60         B-14                       
023501,002307: 

Page 543

023503,002309:                                                                                                  #  DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION).  ENTER WITH DESIRED ANGLES IN
023504,002310:                                                                                                  #  TANG AND TANG +1.
023505,002311: 
023506,002312: 25,2475           04645        RRDESNB            TC       MAKECADR                              
023507,002313: 25,2476           55113                           TS       DESRET                                
023508,002314: 
023509,002315: 25,2477           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
023510,002316: 25,2500           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
023511,002317: 25,2501           32474                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
023512,002318: 25,2502           55114                           TS       DESCOUNT                              #  FOR DESIGNATE
023513,002319: 25,2503           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
023514,002320: 25,2504           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023515,002321: 25,2505           01107                           ADRES    TANG                                  
023516,002322: 25,2506           12523                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
023517,002323: 
023518,002324: 25,2507           00003        OKDESNB            RELINT                                         
023519,002325: 25,2510           00006                           EXTEND                                         
023520,002326: 25,2511           31110                           DCA      TANG                                  
023521,002327: 25,2512           53753                           DXCH     TANGNB                                
023522,002328: 25,2513           06037                           TC       INTPRET                               
023523,002329: 
023524,002330: 25,2514           77624                           CALL                                           #  GET LOS IN NB COORDS.
023525,002331: 25,2515           46041                                    RRNB                                  
023526,002332: 25,2516           01102                           STORE    RRTARGET                              
023527,002333: 
023528,002334: 25,2517           77414                           SET      EXIT                                  
023529,002335: 25,2520           00071                                    RRNBSW                                
023530,002336: 
023531,002337: 25,2521           00004                           INHINT                                         
023532,002338: 25,2522           12433                           TCF      STARTDES   +1                         
023533,002339: 25,2523           02233        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
023534,002340: 25,2524           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023535,002341: 25,2525           01107                           ADRES    TANG                                  
023536,002342: 25,2526           12533                           TCF      NODESNB                               #  NOT POSSIBLE.
023537,002343: 
023538,002344: 25,2527           02233                           TC       RMODINV                               
023539,002345: 25,2530           34736                           CAF      REMODBIT                              #  CALL FOR REMODE.
023540,002346: 25,2531           26110                           ADS      RADMODES                              
023541,002347: 25,2532           12507                           TCF      OKDESNB                               
023542,002348: 
023543,002349: 25,2533           02233        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
023544,002350: 25,2534           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
023545,002351: 25,2535           00502                           OCT      502                                   
023546,002352: 25,2536           06011                           TC       CLRADMOD                              
023547,002353: 25,2537           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
023548,002354: 
023549,002355: 25,2540           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023550,002356: 25,2541           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
023551,002357: 25,2542           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
023552,002358: 25,2543           00006                           EXTEND                                         

Page 544

023554,002360: 25,2544           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
023555,002361: 25,2545           30001                           DCA      0                                     
023556,002362: 25,2546           52062                           DXCH     ITEMP1                                
023557,002363: 25,2547           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
023558,002364: 
023559,002365: 25,2550           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
023560,002366: 25,2551           70110                           MASK     RADMODES                              
023561,002367: 25,2552           10000                           CCS      A                                     
023562,002368: 25,2553           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
023563,002369: 25,2554           30061                           CA       ITEMP1                                
023564,002370: 25,2555           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
023565,002371: 25,2556           66161                           DEC      -.30555                               #  1.    ABS(T) L 55 DEGS
023566,002372: 25,2557           00001                           TC       L                                     #  2     SHAFT LIMITS AT +59, -85 DEGS
023567,002373: 
023568,002374: 25,2560           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
023569,002375: 25,2561           00006                           EXTEND                                         
023570,002376: 25,2562           62570                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023571,002377: 25,2563           64562                           AD       5.5DEGS                               
023572,002378: 25,2564           04512        SHAFTLIM           TC       MAGSUB                                
023573,002379: 25,2565           64420                           DEC      -.35833                               #  64.5 DEGREES
023574,002380: 25,2566           00001                           TC       L                                     #  NOT IN LIMITS
023575,002381: 25,2567           04560                           TC       RRLIMOK                               #  IN LIMITS
023576,002382: 25,2570           62572        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023577,002383: 25,2571           12564                           TCF      SHAFTLIM                              
023578,002384: 
023579,002385: 25,2572           03512        20.5DEGS           DEC      .11389                                
023580,002386: 

Page 545

023582,002388:                                                                                                  #  PROGRAM NAME_  BEGDES
023583,002389: 
023584,002390:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023585,002391: 
023586,002392:                                                                                                  #        BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023587,002393:                                                                                                  #        ACTUAL RR DESIGNATION.  INITIALLY A CHECK IS MADE TO SEE IF A
023588,002394:                                                                                                  #        REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS.  IF SO,
023589,002395:                                                                                                  #        CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023590,002396:                                                                                                  #        EXECUTED.  IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023591,002397:                                                                                                  #        FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF
023592,002398:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023593,002399:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO RDBADEND.  IF THE REPOSITION
023594,002400:                                                                                                  #        FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023595,002401:                                                                                                  #        BIT 15) IS CHECKED.  IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023596,002402:                                                                                                  #        MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023597,002403:                                                                                                  #        REPEATING AT STDESIG.  IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023598,002404:                                                                                                  #        TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023599,002405:                                                                                                  #        IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023600,002406:                                                                                                  #        BIT 10) IS CHECKED.  IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023601,002407:                                                                                                  #        CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM.  IF DESIGNATE
023602,002408:                                                                                                  #        IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023603,002409:                                                                                                  #        EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023604,002410:                                                                                                  #        SIGNAL.  IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023605,002411:                                                                                                  #        RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023606,002412:                                                                                                  #        (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023607,002413:                                                                                                  #        (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND.  IF
023608,002414:                                                                                                  #        TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023609,002415:                                                                                                  #        EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023610,002416:                                                                                                  #        BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023611,002417: 
023612,002418:                                                                                                  #  CALLING SEQUENCE:
023613,002419: 
023614,002420:                                                                                                  #        WAITLIST CALL FROM STARTDES
023615,002421:                                                                                                  #        TCF BEGDES FROM DORREPOS
023616,002422:                                                                                                  #        TC STDESIG RETURNING, FROM REMODE
023617,002423: 
023618,002424:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023619,002425:                                                                                                  #        DESCOUNT, RADMODES
023620,002426: 
023621,002427:                                                                                                  #  SUBROUTINES CALLED_
023622,002428:                                                                                                  #        ENDRADAR, FINDVAC
023623,002429: 
023624,002430:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
023625,002431: 
023626,002432:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023627,002433:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023628,002434: 
023629,002435:                                                                                                  #  EXIT_         TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023630,002436:                                                                                                  #                ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023631,002437:                                                                                                  #                RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023632,002438: 
023633,002439: 25,2573           40110        BEGDES             CS       RADMODES                              

Page 546

023635,002441: 25,2574           74736                           MASK     REMODBIT                              
023636,002442: 25,2575           10000                           CCS      A                                     
023637,002443: 25,2576           02602                           TC       STDESIG                               
023638,002444: 25,2577           02171                           TC       REMODE                                
023639,002445: 25,2600           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
023640,002446: 25,2601           00062                           DEC      50         B-14                       
023641,002447: 
023642,002448: 25,2602           34741        STDESIG            CAF      REPOSBIT                              
023643,002449: 25,2603           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023644,002450: 25,2604           10000                           CCS      A                                     #  OUT OF BOUNDS.  IF SO, THIS BIT SHOWS A
023645,002451: 25,2605           12623                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
023646,002452: 
023647,002453: 25,2606           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
023648,002454: 25,2607           12612                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
023649,002455: 25,2610           12612                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023650,002456: 25,2611           12630                           TCF      MOREDES    +1                         
023651,002457: 
023652,002458: 25,2612           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
023653,002459: 25,2613           74742                           MASK     DESIGBIT                              #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023654,002460: 25,2614           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT).  IF SO, EXIT AFTER
023655,002461: 25,2615           13546                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
023656,002462: 
023657,002463: 25,2616           11114        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
023658,002464: 25,2617           12627                           TCF      MOREDES                               
023659,002465: 
023660,002466: 25,2620           42635                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023661,002467: 25,2621           00006                           EXTEND                                         
023662,002468: 25,2622           03012                           WAND     CHAN12                                
023663,002469: 25,2623           44742        BADDES             CS       DESIGBIT                              #  REMOVE DESIGNATE FLAG
023664,002470: 25,2624           70110                           MASK     RADMODES                              
023665,002471: 25,2625           54110                           TS       RADMODES                              
023666,002472: 25,2626           13562                           TCF      RDBADEND                              
023667,002473: 
023668,002474: 25,2627           55114        MOREDES            TS       DESCOUNT                              
023669,002475: 25,2630           37714                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
023670,002476: 25,2631           05105                           TC       FINDVAC                               
023671,002477: 25,2632  E7,1456                                  EBANK=   LOSCOUNT                              
023672,002478: 25,2632           02636 52067                     2CADR    DODES                                 
023673,002479: 
023674,002480: 25,2634           12600                           TCF      DESLOOP                               
023675,002481: 
023676,002482: 25,2635           20002        B14+B2             OCT      20002                                 
023677,002483: 

Page 547

023679,002485:                                                                                                  #  PROGRAM NAME_  DODES
023680,002486: 
023681,002487:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023682,002488: 
023683,002489:                                                                                                  #        DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023684,002490:                                                                                                  #        COMMANDS.  INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023685,002491:                                                                                                  #        THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023686,002492:                                                                                                  #        NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY.  THE
023687,002493:                                                                                                  #        SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023688,002494:                                                                                                  #                + SHAFT = LOS . (COS(S), 0, -SIN(S))  (DOT PRODUCT)
023689,002495:                                                                                                  #                - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023690,002496:                                                                                                  #        THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023691,002497:                                                                                                  #        (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE 
023692,002498:                                                                                                  #        POLARITY OF THE COMMAND.  AT RRSCALUP EACH COMMAND IS
023693,002499:                                                                                                  #        SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023694,002500:                                                                                                  #        .5 DEGREES, MPAC +1 IS SET POSITIVE.  IF A CONTINUOUS DESIGNATE 
023695,002501:                                                                                                  #        (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023696,002502:                                                                                                  #        THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023697,002503:                                                                                                  #        CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023698,002504:                                                                                                  #        IS IN PROGRESS.  IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023699,002505:                                                                                                  #        OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED.  IF NO
023700,002506:                                                                                                  #        CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023701,002507:                                                                                                  #        INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023702,002508:                                                                                                  #        CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023703,002509:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5
023704,002510:                                                                                                  #        DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023705,002511:                                                                                                  #        (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023706,002512:                                                                                                  #        COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023707,002513:                                                                                                  #        PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023708,002514:                                                                                                  #        LOCK-ON FLAG (STATE BIT 5) IS CHECKED.  IF NOT PRESENT, THE
023709,002515:                                                                                                  #        DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023710,002516:                                                                                                  #        COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023711,002517:                                                                                                  #        CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023712,002518:                                                                                                  #        BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023713,002519:                                                                                                  #        RR DATA GOOD (CHAN 33 BIT 4) SIGNAL.  IF RR DATA GOOD
023714,002520:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023715,002521:                                                                                                  #        THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023716,002522:                                                                                                  #        AND ENDOFJOB CALLED.  IF RR DATA GOOD IS NOT PRESENT, RROUT
023717,002523:                                                                                                  #        IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023718,002524:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023719,002525:                                                                                                  #        VIA ENDOFJOB.
023720,002526: 
023721,002527:                                                                                                  #  CALLING SEQUENCE:
023722,002528: 
023723,002529:                                                                                                  #        EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023724,002530: 
023725,002531:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023726,002532: 
023727,002533:                                                                                                  #        RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023728,002534:                                                                                                  #        LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023729,002535: 
023730,002536:                                                                                                  #  SUBROUTINES CALLED_
023731,002537: 
023732,002538:                                                                                                  #        READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT

Page 548

023734,002540: 
023735,002541:                                                                                                  #  JOBS OR TASKS INITIATED_
023736,002542: 
023737,002543:                                                                                                  #        NONE
023738,002544: 
023739,002545:                                                                                                  #  ALARMS_  NONE
023740,002546: 
023741,002547:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
023742,002548: 
023743,002549: 25,2636           00006        DODES              EXTEND                                         
023744,002550: 25,2637           30036                           DCA      CDUT                                  
023745,002551: 25,2640           53110                           DXCH     TANG                                  
023746,002552: 
023747,002553: 25,2641           06037                           TC       INTPRET                               
023748,002554: 
023749,002555: 25,2642           77201                           SETPD    VLOAD                                 
023750,002556: 25,2643           00001                                    0                                     
023751,002557: 25,2644           01102                                    RRTARGET                              
023752,002558: 25,2645           74214                           BON      VXSC                                  
023753,002559: 25,2646           00311                                    RRNBSW                                
023754,002560: 25,2647           52661                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
023755,002561: 25,2650           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
023756,002562: 25,2651           63372                           VSL1     PDVL                                  
023757,002563: 25,2652           01761                                    LOSVEL                                
023758,002564: 25,2653           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
023759,002565: 25,2654           13072                                    MCTOMS                                
023760,002566: 25,2655           45056                           UNIT     CALL                                  
023761,002567: 25,2656           47537                                    CDUTRIG                               
023762,002568: 25,2657           77624                           CALL                                           
023763,002569: 25,2660           47671                                    *SMNB*                                
023764,002570: 
023765,002571: 25,2661           14041        DONBRD             STODL    32D                                   
023766,002572: 25,2662           01111                                    TANG       +1                         
023767,002573: 25,2663           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
023768,002574: 25,2664           21576                                    CDULOGIC                              #        (-SIN(S)).
023769,002575: 25,2665           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
023770,002576: 25,2666           41546                           COS      PUSH                                  
023771,002577: 25,2667           65205                           DMP      PDDL                                  
023772,002578: 25,2670           00041                                    32D                                   
023773,002579: 25,2671           00045                                    36D                                   
023774,002580: 25,2672           44205                           DMP      BDSU                                  
023775,002581: 25,2673           00001                                    0                                     
023776,002582: 25,2674           77626                           STADR                                          
023777,002583: 25,2675           76666                           STORE    TANG       +1                         #  SHAFT COMMAND
023778,002584: 
023779,002585: 25,2676           47135                           SLOAD    RTB                                   
023780,002586: 25,2677           01110                                    TANG                                  
023781,002587: 25,2700           21576                                    CDULOGIC                              
023782,002588: 25,2701           71406                           PUSH     COS                                   #  COS(T) TO 4.
023783,002589: 25,2702           73525                           PDDL     SIN                                   
023784,002590: 25,2703           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
023785,002591: 25,2704           00003                                    2                                     

Page 549

023787,002593: 25,2705           65352                           SL1      PDDL                                  #  DEFINE VECTOR U =     (SIN(T)SIN(S))
023788,002594: 25,2706           00005                                    4                                     #                        (   COS(T)   )
023789,002595: 25,2707           41325                           PDDL     DMP                                   #                        (SIN(T)COS(S))
023790,002596: 25,2710           00007                                    6                                     
023791,002597: 25,2711           00001                                    0                                     
023792,002598: 25,2712           55552                           SL1      VDEF                                  
023793,002599: 25,2713           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
023794,002600: 25,2714           00041                                    32D                                   
023795,002601: 

Page 550

023797,002603:                                                                                                  #  AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE.  CONVERT THIS TO A
023798,002604:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023799,002605: 
023800,002606: 25,2715           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
023801,002607: 25,2716           00006                           EXTEND                                         
023802,002608: 25,2717           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023803,002609: 25,2720           55107                           TS       TANG                                  #  TRUNNION COMMAND.
023804,002610: 25,2721           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
023805,002611: 25,2722           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
023806,002612: 25,2723           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
023807,002613: 25,2724           12727                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
023808,002614: 25,2725           31110                           CA       TANG       +1                         #  SHAFT ANGLE.  COMPENSATE FOR THIS SWITCH
023809,002615: 25,2726           12730                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
023810,002616: 25,2727           41110                 +3        CS       TANG       +1                         
023811,002617: 25,2730           00006                           EXTEND                                         
023812,002618: 25,2731           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023813,002619: 25,2732           55110                           TS       TANG       +1                         #  SHAFT COMMAND.
023814,002620: 25,2733           06037                           TC       INTPRET                               
023815,002621: 
023816,002622: 25,2734           41345                           DLOAD    DMP                                   
023817,002623: 25,2735           00003                                    2                                     #  COS(S).
023818,002624: 25,2736           00005                                    4                                     #  COS(T).
023819,002625: 25,2737           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
023820,002626: 25,2740           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
023821,002627: 25,2741           00001                                    0                                     #  SIN(S).
023822,002628: 25,2742           72405                           DMP      SL1                                   
023823,002629: 25,2743           00005                                    4                                     #  COS(T).
023824,002630: 25,2744           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
023825,002631: 25,2745           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
023826,002632: 25,2746           52751                                    +3                                    
023827,002633: 25,2747           77624                           CALL                                           
023828,002634: 25,2750           47673                                    *NBSM*                                #  GET URR IN SM AXES.
023829,002635: 25,2751           77441                           DOT      EXIT                                  
023830,002636: 25,2752           01102                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
023831,002637: 
023832,002638: 25,2753           00006                           EXTEND                                         
023833,002639: 25,2754           43070                           DCS      COS1/2DG                              
023834,002640: 25,2755           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
023835,002641: 25,2756           10154                           CCS      MPAC                                  
023836,002642: 25,2757           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
023837,002643: 25,2760           12762                           TCF      +2                                    
023838,002644: 25,2761           34753                           CA       ONE                                   
023839,002645: 25,2762           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.

Page 551

023841,002647:                                                                                                  #  SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023842,002648: 
023843,002649: 25,2763           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023844,002650: 25,2764           12767                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
023845,002651: 25,2765           12767                           TCF      SIGNLCHK                              #  ERROR SIGNALS
023846,002652: 25,2766           13017                           TCF      DORROUT                               
023847,002653: 25,2767           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023848,002654: 25,2770           13000                           TCF      DGOODCHK                              
023849,002655: 25,2771           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023850,002656: 25,2772           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
023851,002657: 25,2773           10000                           CCS      A                                     
023852,002658: 25,2774           13005                           TCF      RRDESDUN                              
023853,002659: 
023854,002660: 25,2775           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
023855,002661: 25,2776           00006                           EXTEND                                         
023856,002662: 25,2777           05012                           WOR      CHAN12                                
023857,002663: 
023858,002664: 25,3000           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
023859,002665: 25,3001           00006                           EXTEND                                         
023860,002666: 25,3002           02033                           RAND     CHAN33                                
023861,002667: 25,3003           10000                           CCS      A                                     
023862,002668: 25,3004           13017                           TCF      DORROUT                               
023863,002669: 
023864,002670: 25,3005           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023865,002671: 25,3006           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
023866,002672: 25,3007           00004                           INHINT                                         
023867,002673: 25,3010           54110                           TS       RADMODES                              
023868,002674: 
023869,002675: 25,3011           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
023870,002676: 25,3012           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
023871,002677: 25,3013           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
023872,002678: 25,3014           00006                           EXTEND                                         
023873,002679: 25,3015           03012                           WAND     CHAN12                                
023874,002680: 25,3016           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
023875,002681: 
023876,002682: 25,3017           30076        DORROUT            CA       FLAGWRD2                              #  IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023877,002683: 25,3020           77712                           MASK     BIT12,14                              #  ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023878,002684: 25,3021           00006                           EXTEND                                         
023879,002685: 25,3022           13041                           BZF      NOTP20                                
023880,002686: 25,3023           06037                           TC       INTPRET                               
023881,002687: 25,3024           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
023882,002688: 25,3025           01102                                    RRTARGET                              
023883,002689: 25,3026           01767                                    MLOSV                                 
023884,002690: 25,3027           41572                           VSL1     PUSH                                  
023885,002691: 25,3030           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
023886,002692: 25,3031           01761                                    LOSVEL                                #  TO LOS VECTOR
023887,002693: 25,3032           13072                                    MCTOMS                                
023888,002694: 25,3033           53362                           VSR1     VAD                                   
023889,002695: 25,3034           77656                           UNIT                                           
023890,002696: 25,3035           15102                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)

Page 552

023892,002698: 25,3036           00045                                    36D                                   
023893,002699: 25,3037           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
023894,002700: 25,3040           77776                           EXIT                                           
023895,002701: 25,3041           00004        NOTP20             INHINT                                         
023896,002702: 25,3042           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
023897,002703: 25,3043           74741                           MASK     REPOSBIT                              #  REPOSITION HAS TAKEN OVER.
023898,002704: 25,3044           10000                           CCS      A                                     
023899,002705: 25,3045           02306                           TC       RROUT                                 
023900,002706: 
023901,002707: 25,3046           30076                           CA       FLAGWRD2                              
023902,002708: 25,3047           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
023903,002709: 25,3050           00006                           EXTEND                                         #  LOS COUNTER
023904,002710: 25,3051           15155                           BZF      ENDOFJOB                              
023905,002711: 25,3052           11456                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
023906,002712: 25,3053           03064                           TC       DODESEND                              #  A NEW LOS
023907,002713: 25,3054           00004                           INHINT                                         
023908,002714: 25,3055           06027                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
023909,002715: 25,3056           52602                           CADR     DESLOOP    +2                         
023910,002716: 25,3057           00003                           RELINT                                         
023911,002717: 25,3060           10067                           CCS      NEWJOB                                
023912,002718: 25,3061           05122                           TC       CHANG1                                
023913,002719: 25,3062           04616                           TC       BANKCALL                              
023914,002720: 25,3063           50731                           CADR     R21LEM2                               
023915,002721: 
023916,002722: 25,3064           55456        DODESEND           TS       LOSCOUNT                              
023917,002723: 25,3065           05155                           TC       ENDOFJOB                              
023918,002724: 
023919,002725: 25,3066           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
023920,002726: 25,3067     7712               BIT12,14           EQUALS   PRIO24                                #  OCT 24000
023921,002727: 25,3067           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
023922,002728: 25,3071           00310 00000  MCTOMS             2DEC     100        B-13                       
023923,002729: 

Page 553

023925,002731:                                                                                                  #  RADAR READ INITIALIZATION
023926,002732: 
023927,002733:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023928,002734: 
023929,002735: 25,3073           03113        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
023930,002736: 25,3074           00017        ALLREAD            OCT      17                                    
023931,002737: 
023932,002738: 25,3075           03114        LRVELZ             TC       INITREAD                              
023933,002739: 25,3076           00016                           OCT      16                                    
023934,002740: 
023935,002741: 25,3077           03114        LRVELY             TC       INITREAD                              
023936,002742: 25,3100           00015                           OCT      15                                    
023937,002743: 
023938,002744: 25,3101           03114        LRVELX             TC       INITREAD                              
023939,002745: 25,3102           00014                           OCT      14                                    
023940,002746: 
023941,002747: 25,3103           03113        RRRDOT             TC       INITREAD   -1                         
023942,002748: 25,3104           00012                           OCT      12                                    
023943,002749: 
023944,002750: 25,3105           03113        RRRANGE            TC       INITREAD   -1                         
023945,002751: 25,3106           00011                           OCT      11                                    
023946,002752: 
023947,002753:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023948,002754:                                                                                                  #  WANTED.  ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023949,002755: 
023950,002756: 25,3107           55105        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
023951,002757: 25,3110           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
023952,002758: 25,3111           51105                           INDEX    TIMEHOLD                              
023953,002759: 25,3112           13075                           TCF      LRVELZ                                
023954,002760: 

Page 554

023956,002762: 25,3113           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
023957,002763: 25,3114           00004        INITREAD           INHINT                                         
023958,002764: 
023959,002765: 25,3115           55105                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
023960,002766: 25,3116           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023961,002767: 25,3117           74751                           MP       BIT3                                  #  ENCOUNTERED).
023962,002768: 25,3120           53106                           DXCH     TIMEHOLD                              
023963,002769: 
023964,002770: 25,3121           10000                           CCS      A                                     
023965,002771: 25,3122           55111                           TS       NSAMP                                 
023966,002772: 25,3123           64753                           AD       ONE                                   
023967,002773:                                                                                                  #  INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023968,002774:                                                                                                  #                DOUBLE
023969,002775: 25,3124           55100                           TS       SAMPLIM                               
023970,002776: 
023971,002777: 25,3125           33147                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
023972,002778: 25,3126           00006                           EXTEND                                         
023973,002779: 25,3127           02033                           RAND     CHAN33                                
023974,002780: 25,3130           55113                           TS       OLDATAGD                              
023975,002781: 
023976,002782: 25,3131           43074                           CS       ALLREAD                               
023977,002783: 25,3132           00006                           EXTEND                                         
023978,002784: 25,3133           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
023979,002785: 
023980,002786: 25,3134           50002                           INDEX    Q                                     
023981,002787: 25,3135           30000                           CAF      0                                     
023982,002788: 25,3136           00006                           EXTEND                                         
023983,002789: 25,3137           05013                           WOR      CHAN13                                #  SET NEW RADAR BITS
023984,002790: 
023985,002791: 25,3140           00006                           EXTEND                                         
023986,002792: 25,3141           30025                           DCA      TIME2                                 
023987,002793: 25,3142           21106                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
023988,002794: 
023989,002795: 25,3143           34755                           CAF      ZERO                                  
023990,002796: 25,3144           54001                           TS       L                                     
023991,002797: 25,3145           53102                           DXCH     SAMPLSUM                              
023992,002798: 25,3146           12366                           TCF      ROADBACK                              
023993,002799: 
023994,002800: 25,3147           00230        DGBITS             OCT      230                                   
023995,002801: 

Page 555

023997,002803:                                                                                                  #  RADAR RUPT READER
023998,002804: 
023999,002805:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT.  IT READS THE DATA $ LOTS MORE.
024000,002806: 
024001,002807: 25,2000                                           SETLOC   RADARUPT                              
024002,002808: 25,2000                                           BANK                                           
024003,002809: 
024004,002810: 25,3150                                           COUNT*   $$/RRUPT                              
024005,002811: 25,3150           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
024006,002812: 25,3151           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
024007,002813: 25,3152           54016                           TS       BANKRUPT                              
024008,002814: 25,3153           00006                           EXTEND                                         
024009,002815: 25,3154           22012                           QXCH     QRUPT                                 
024010,002816: 
024011,002817: 25,3155           34757                           CAF      SEVEN                                 
024012,002818: 25,3156           00006                           EXTEND                                         
024013,002819: 25,3157           02013                           RAND     CHAN13                                
024014,002820: 25,3160           55335                           TS       DNINDEX                               
024015,002821: 25,3161           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO, DO NOT STORE
024016,002822: 25,3162           13166                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024017,002823: 25,3163           30046                           CA       RNRAD                                 
024018,002824: 25,3164           51335                           INDEX    DNINDEX                               
024019,002825: 25,3165           55332                           TS       DNRRANGE   -1                         
024020,002826: 25,3166           11100        TRYCOUNT           CCS      SAMPLIM                               
024021,002827: 25,3167           13211                           TCF      PLENTY                                
024022,002828: 25,3170           13174                           TCF      NOMORE                                
024023,002829: 25,3171           05567                           TC       ALARM                                 
024024,002830: 25,3172           00520                           OCT      520                                   
024025,002831: 25,3173           05270                           TC       RESUME                                
024026,002832: 
024027,002833: 25,3174           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
024028,002834: 25,3175           74735                           MASK     LRBYBIT                               
024029,002835: 25,3176           00006                           EXTEND                                         
024030,002836: 25,3177           13206                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
024031,002837: 
024032,002838: 25,3200           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
024033,002839: 25,3201           74743                           MASK     R04FLBIT                              #  IF 1, R04 IS RUNNING.  DO NOT ALARM-
024034,002840: 25,3202           00006                           EXTEND                                         
024035,002841: 25,3203           13206                           BZF      BADRAD                                
024036,002842: 
024037,002843: 25,3204           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
024038,002844: 25,3205           00521                           OCT      521                                   
024039,002845: 25,3206           44753        BADRAD             CS       ONE                                   
024040,002846: 25,3207           55100                           TS       SAMPLIM                               
024041,002847: 25,3210           03560                           TC       RDBADEND   -2                         
024042,002848: 25,3211           55100        PLENTY             TS       SAMPLIM                               
024043,002849: 25,3212           34751                           CAF      BIT3                                  
024044,002850: 25,3213           00006                           EXTEND                                         
024045,002851: 25,3214           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
024046,002852: 25,3215           00006                           EXTEND                                         

Page 556

024048,002854: 25,3216           13276                           BZF      RENDRAD                               
024049,002855: 
024050,002856: 25,3217           03364                           TC       R77CHECK                              #  R77 QUITS HERE.
024051,002857: 25,3220           30110        LRPOSCHK           CA       RADMODES                              #  SEE IF LR IN DESIRED POSITION.
024052,002858: 25,3221           00006                           EXTEND                                         
024053,002859: 25,3222           06033                           RXOR     CHAN33                                
024054,002860: 25,3223           74746                           MASK     BIT6                                  
024055,002861: 25,3224           00006                           EXTEND                                         
024056,002862: 25,3225           13231                           BZF      VELCHK                                
024057,002863: 
024058,002864: 25,3226           05567                           TC       ALARM                                 
024059,002865: 25,3227           00522                           OCT      522                                   
024060,002866: 25,3230           03206                           TC       BADRAD                                
024061,002867: 
024062,002868: 25,3231           36245        VELCHK             CAF      BIN3                                  #  = 00003 OCT
024063,002869: 25,3232           00006                           EXTEND                                         
024064,002870: 25,3233           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
024065,002871: 25,3234           76245                           MASK     BIN3                                  
024066,002872: 25,3235           00006                           EXTEND                                         
024067,002873: 25,3236           13272                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
024068,002874: 
024069,002875: 25,3237           34733                           CAF      POSMAX                                
024070,002876: 25,3240           70046                           MASK     RNRAD                                 
024071,002877: 25,3241           62000                           AD       LVELBIAS                              
024072,002878: 25,3242           54001                           TS       L                                     
024073,002879: 25,3243           30046                           CAE      RNRAD                                 
024074,002880: 25,3244           60000                           DOUBLE                                         
024075,002881: 25,3245           74753                           MASK     BIT1                                  
024076,002882: 25,3246           52064                           DXCH     ITEMP3                                
024077,002883: 
024078,002884: 25,3247           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024079,002885: 25,3250           03442                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
024080,002886:                                                                                                  #  INDEPENDENT OF DATA GOOD.
024081,002887: 
024082,002888: 25,3251           11111                           CCS      NSAMP                                 
024083,002889: 25,3252           03262                           TC       NOEND                                 
024084,002890: 25,3253           44753        GOODRAD            CS       ONE                                   
024085,002891: 25,3254           55100                           TS       SAMPLIM                               
024086,002892: 25,3255           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024087,002893: 25,3256           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
024088,002894: 25,3257           54110                           TS       RADMODES                              
024089,002895: 25,3260           03616                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
024090,002896: 25,3261           03553                           TC       RGOODEND   -2                         
024091,002897: 
024092,002898: 25,3262           55111        NOEND              TS       NSAMP                                 
024093,002899: 25,3263           11100        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
024094,002900: 25,3264           13266                           TCF      +2                                    
024095,002901: 25,3265           13461                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
024096,002902: 25,3266           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
024097,002903: 25,3267           00006                           EXTEND                                         

Page 557

024099,002905: 25,3270           05013                           WOR      CHAN13                                #  RESET ACTIVITY BIT
024100,002906: 25,3271           05270                           TC       RESUME                                
024101,002907: 
024102,002908: 
024103,002909: 25,3272           34747        LRHEIGHT           CAF      BIT5                                  
024104,002910: 25,3273           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024105,002911: 
024106,002912: 25,3274           34743                           CAF      BIT9                                  
024107,002913: 25,3275           03320                           TC       SCALECHK   -1                         
024108,002914: 
024109,002915: 25,3276           34741        RENDRAD            CAF      REPOSBIT                              #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
024110,002916: 25,3277           70110                           MASK     RADMODES                              #  LIMITS.
024111,002917: 25,3300           10000                           CCS      A                                     
024112,002918: 25,3301           13206                           TCF      BADRAD                                
024113,002919: 
024114,002920: 25,3302           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
024115,002921: 25,3303           74745                           MASK     RCDUFBIT                              
024116,002922: 25,3304           10000                           CCS      A                                     
024117,002923: 25,3305           13206                           TCF      BADRAD                                
024118,002924: 
024119,002925: 25,3306           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
024120,002926: 25,3307           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024121,002927: 
024122,002928: 25,3310           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
024123,002929: 25,3311           00006                           EXTEND                                         
024124,002930: 25,3312           02013                           RAND     CHAN13                                
024125,002931: 25,3313           54002                           TS       Q                                     #  FOR LATER TESTING.
024126,002932: 25,3314           10000                           CCS      A                                     
024127,002933: 25,3315           13317                           TCF      +2                                    
024128,002934: 25,3316           13331                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
024129,002935: 25,3317           34751                           CAF      BIT3                                  
024130,002936: 25,3320           54001                           TS       L                                     
024131,002937: 
024132,002938: 25,3321           00006        SCALECHK           EXTEND                                         
024133,002939: 25,3322           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
024134,002940: 25,3323           56001                           XCH      L                                     
024135,002941: 25,3324           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
024136,002942: 25,3325           00006                           EXTEND                                         
024137,002943: 25,3326           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
024138,002944: 25,3327           10000                           CCS      A                                     
024139,002945: 25,3330           03350                           TC       SCALCHNG                              #  THEY DIFFER
024140,002946: 
024141,002947: 25,3331           34733        RADIN              CAF      POSMAX                                
024142,002948: 25,3332           70046                           MASK     RNRAD                                 
024143,002949: 25,3333           54064                           TS       ITEMP4                                
024144,002950: 
024145,002951: 25,3334           30046                           CAE      RNRAD                                 
024146,002952: 25,3335           60000                           DOUBLE                                         
024147,002953: 25,3336           74753                           MASK     BIT1                                  
024148,002954: 25,3337           54063                           TS       ITEMP3                                

Page 558

024150,002956: 25,3340           10002                           CCS      Q                                     #  SEE IF RR RDOT.
024151,002957: 25,3341           13402                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
024152,002958: 
024153,002959: 25,3342           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
024154,002960: 25,3343           42002                           DCS      RDOTBIAS                              
024155,002961: 25,3344           20064        DASAMPL            DAS      ITEMP3                                
024156,002962: 25,3345           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
024157,002963: 25,3346           03443                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
024158,002964: 25,3347           03253                           TC       GOODRAD                               
024159,002965: 
024160,002966: 25,3350           22110        SCALCHNG           LXCH     RADMODES                              
024161,002967: 25,3351           64753                           AD       BIT1                                  
024162,002968: 25,3352           00006                           EXTEND                                         
024163,002969: 25,3353           06001                           RXOR     LCHAN                                 
024164,002970: 25,3354           54110                           TS       RADMODES                              
024165,002971: 25,3355           33147                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
024166,002972: 25,3356           00006                           EXTEND                                         
024167,002973: 25,3357           02033                           RAND     CHAN33                                
024168,002974: 25,3360           55113                           TS       OLDATAGD                              
024169,002975: 25,3361           05504                           TC       UPFLAG                                #  SET RNGSCFLG
024170,002976: 25,3362           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
024171,002977: 25,3363           13206                           TCF      BADRAD                                
024172,002978: 
024173,002979:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024174,002980: 
024175,002981: 25,3364           40101        R77CHECK           CS       FLAGWRD5                              
024176,002982: 25,3365           74741                           MASK     R77FLBIT                              
024177,002983: 25,3366           10000                           CCS      A                                     
024178,002984: 25,3367           00002                           TC       Q                                     #  NOT R77
024179,002985: 25,3370           43401                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
024180,002986: 25,3371           70110                           MASK     RADMODES                              
024181,002987: 25,3372           54001                           TS       L                                     
024182,002988: 25,3373           33401                           CA       BITS5,8                               
024183,002989: 25,3374           00006                           EXTEND                                         
024184,002990: 25,3375           02033                           RAND     CHAN33                                
024185,002991: 25,3376           60001                           AD       L                                     
024186,002992: 25,3377           54110                           TS       RADMODES                              
024187,002993: 25,3400           03553                           TC       RGOODEND   -2                         
024188,002994: 25,3401           00220        BITS5,8            OCT      220                                   
024189,002995: 

Page 559

024191,002997:                                                                                                  #  THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024192,002998: 
024193,002999: 25,3402           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
024194,003000: 25,3403           13405                           TCF      +2                                    #  ON HIGH SCALE.
024195,003001: 25,3404           13345                           TCF      DGCHECK2                              
024196,003002: 
024197,003003: 25,3405           31335                           CA       DNINDEX                               
024198,003004: 25,3406           74751                           MASK     BIT3                                  
024199,003005: 25,3407           10000                           CCS      A                                     
024200,003006: 25,3410           13417                           TCF      LRSCK                                 
024201,003007: 
024202,003008: 25,3411           52064                           DXCH     ITEMP3                                
024203,003009: 25,3412           20001                           DDOUBL                                         
024204,003010: 25,3413           20001                           DDOUBL                                         
024205,003011: 25,3414           20001                           DDOUBL                                         
024206,003012: 25,3415           52064                           DXCH     ITEMP3                                
024207,003013: 
024208,003014: 25,3416           13345                           TCF      DGCHECK2                              
024209,003015: 
024210,003016: 25,3417           10063        LRSCK              CCS      ITEMP3                                
024211,003017: 25,3420           13431                           TCF      +11                                   
024212,003018: 25,3421           40064                           CS       ITEMP4                                
024213,003019: 25,3422           63441                           AD       HISCALIM                              
024214,003020: 25,3423           00006                           EXTEND                                         
024215,003021: 25,3424           63431                           BZMF     +5                                    
024216,003022: 
024217,003023: 25,3425           40107                           CS       FLGWRD11                              
024218,003024: 25,3426           74751                           MASK     SCABBIT                               
024219,003025: 25,3427           26107                           ADS      FLGWRD11                              
024220,003026: 25,3430           13434                           TCF      +4                                    
024221,003027: 
024222,003028: 25,3431           44751                           CS       SCABBIT                               
024223,003029: 25,3432           70107                           MASK     FLGWRD11                              
024224,003030: 25,3433           54107                           TS       FLGWRD11                              
024225,003031: 
024226,003032: 25,3434           00006                           EXTEND                                         
024227,003033: 25,3435           30064                           DCA      ITEMP3                                
024228,003034: 25,3436           20001                           DDOUBL                                         
024229,003035: 25,3437           20001                           DDOUBL                                         
024230,003036: 25,3440           13344                           TCF      DASAMPL                               
024231,003037: 
024232,003038: 25,3441           00714        HISCALIM           DEC      460        B-14                       #  2481.7 FT *****************************

Page 560

024234,003040: 25,3442           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
024235,003041: 25,3443           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
024236,003042: 25,3444           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING.  IF
024237,003043: 25,3445           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN.  IF
024238,003044: 25,3446           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
024239,003045: 25,3447           71113                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
024240,003046: 25,3450           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024241,003047: 25,3451           57113                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
024242,003048: 25,3452           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
024243,003049: 25,3453           60001                           AD       L                                     
024244,003050: 25,3454           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
024245,003051: 25,3455           03263                           TC       RESAMPLE                              
024246,003052: 25,3456           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
024247,003053: 25,3457           21102                           DAS      SAMPLSUM                              #  ACCUMULATION.
024248,003054: 25,3460           00002                           TC       Q                                     
024249,003055: 
024250,003056: 25,3461           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
024251,003057: 25,3462           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
024252,003058: 25,3463           60061                           AD       ITEMP1                                
024253,003059: 25,3464           54110                           TS       RADMODES                              
024254,003060: 
024255,003061: 25,3465           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
024256,003062: 25,3466           53102                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.
024257,003063: 25,3467           03616                           TC       RADLITES                              
024258,003064: 25,3470           13174                           TCF      NOMORE                                

Page 561

024260,003066:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024261,003067: 
024262,003068: 25,2000                                           SETLOC   P20S1                                 
024263,003069: 25,2000                                           BANK                                           
024264,003070: 
024265,003071: 25,3471                                           COUNT*   $$/RSUB                               
024266,003072: 25,3471           00004        LRPOS2             INHINT                                         
024267,003073: 
024268,003074: 25,3472           40110                           CS       RADMODES                              
024269,003075: 25,3473           74746                           MASK     LRPOSBIT                              #  SHOW DESIRED LR POSITION IS 2
024270,003076: 25,3474           26110                           ADS      RADMODES                              
024271,003077: 
024272,003078: 25,3475           34745                           CAF      BIT7                                  
024273,003079: 25,3476           00006                           EXTEND                                         
024274,003080: 25,3477           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
024275,003081: 25,3500           00006                           EXTEND                                         
024276,003082: 25,3501           13530                           BZF      RADNOOP                               
024277,003083: 
024278,003084: 25,3502           34737                           CAF      BIT13                                 
024279,003085: 25,3503           00006                           EXTEND                                         
024280,003086: 25,3504           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
024281,003087: 25,3505           33545                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
024282,003088: 25,3506           05203                           TC       WAITLIST                              
024283,003089: 25,3507  E7,1456                                  EBANK=   LOSCOUNT                              
024284,003090: 25,3507           03543 52067                     2CADR    LRPOSCAN                              
024285,003091: 
024286,003092: 25,3511           02366                           TC       ROADBACK                              
024287,003093: 
024288,003094: 25,3512           55100        LRPOSNXT           TS       SAMPLIM                               
024289,003095: 25,3513           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024290,003096: 25,3514           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
024291,003097: 
024292,003098: 25,3515           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
024293,003099: 25,3516           00006                           EXTEND                                         
024294,003100: 25,3517           02033                           RAND     CHAN33                                
024295,003101: 25,3520           00006                           EXTEND                                         
024296,003102: 25,3521           13535                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024297,003103: 
024298,003104: 25,3522           11100                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
024299,003105: 25,3523           13512                           TCF      LRPOSNXT                              
024300,003106: 
024301,003107: 25,3524           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
024302,003108: 25,3525           00006                           EXTEND                                         
024303,003109: 25,3526           03012                           WAND     CHAN12                                
024304,003110: 25,3527           13562                           TCF      RDBADEND                              
024305,003111: 
024306,003112: 25,3530           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
024307,003113: 25,3531           05203                           TC       WAITLIST                              
024308,003114: 25,3532  E7,1456                                  EBANK=   LOSCOUNT                              
024309,003115: 25,3532           03555 52067                     2CADR    RGOODEND                              

Page 562

024311,003117: 25,3534           02366                           TC       ROADBACK                              
024312,003118: 
024313,003119: 25,3535           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024314,003120: 25,3536           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024315,003121: 
024316,003122: 25,3537           44737                           CS       BIT13                                 #  REMOVE COMMAND
024317,003123: 25,3540           00006                           EXTEND                                         
024318,003124: 25,3541           03012                           WAND     CHAN12                                
024319,003125: 25,3542           13555                           TCF      RGOODEND                              
024320,003126: 
024321,003127: 25,3543           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
024322,003128: 25,3544           13512                           TCF      LRPOSNXT                              
024323,003129: 25,3545           01130        6SECS              DEC      600        B-14                       

Page 563

024325,003131:                                                                                                  #  SEQUENCES TO TERMINATE RR OPERATIONS.
024326,003132: 
024327,003133: 25,3546           34745        ENDRADAR           CAF      RCDUFBIT                              #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
024328,003134: 25,3547           70110                           MASK     RADMODES                              
024329,003135: 25,3550           10000                           CCS      A                                     
024330,003136: 25,3551           13555                           TCF      RGOODEND                              
024331,003137: 25,3552           13562                           TCF      RDBADEND                              
024332,003138: 25,3553           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024333,003139: 25,3554           54734                           TS       RUPTAGN                               
024334,003140: 
024335,003141: 25,3555           34752        RGOODEND           CAF      TWO                                   
024336,003142: 25,3556           04635                           TC       POSTJUMP                              
024337,003143: 25,3557           17665                           CADR     GOODEND                               
024338,003144: 
024339,003145: 25,3560           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
024340,003146: 25,3561           54734                           TS       RUPTAGN                               
024341,003147: 25,3562           34752        RDBADEND           CAF      TWO                                   
024342,003148: 25,3563           04635                           TC       POSTJUMP                              
024343,003149: 25,3564           17662                           CADR     BADEND                                
024344,003150: 
024345,003151: 25,3565     6245               BIN3               EQUALS   THREE                                 
024346,003152: 

Page 564

024348,003154:                                                                                                  #  PROGRAM NAME_  LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024349,003155:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024350,003156: 
024351,003157:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024352,003158:                                                                                                  #        1)      EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024353,003159:                                                                                                  #        2)      COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024354,003160:                                                                                                  #        3)      COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024355,003161: 
024356,003162:                                                                                                  #  CALLING SEQUENCE      CALL
024357,003163:                                                                                                  #                                LPS20.1
024358,003164: 
024359,003165:                                                                                                  #  SUBROUTINES CALLED_
024360,003166:                                                                                                  #        LEMPREC, CSMPREC
024361,003167: 
024362,003168:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER + 2
024363,003169: 
024364,003170:                                                                                                  #  ERROR EXITS_  NONE
024365,003171: 
024366,003172:                                                                                                  #  ALARMS_  NONE
024367,003173: 
024368,003174:                                                                                                  #  OUTPUT_
024369,003175:                                                                                                  #        LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024370,003176:                                                                                                  #        MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024371,003177:                                                                                                  #        RRNBSW CLEARED
024372,003178: 
024373,003179:                                                                                                  #  INITIALIZED ERASEABLE
024374,003180:                                                                                                  #        TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024375,003181:                                                                                                  #        SEE ORBITAL INTEGRATION ROUTINE
024376,003182: 
024377,003183:                                                                                                  #  DEBRIS_
024378,003184:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024379,003185: 
024380,003186: 23,2314                                           BANK     23                                    
024381,003187: 24,2000                                           SETLOC   P20S                                  
024382,003188: 24,2000                                           BANK                                           

Page 565

024384,003190: 24,3255                                           COUNT*   $$/LPS20                              
024385,003191: 
024386,003192: 24,3255           43020        LPS20.1            STQ      BOFF                                  
024387,003193: 24,3256           01757                                    LS21X                                 
024388,003194: 24,3257           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
024389,003195: 24,3260           51264                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
024390,003196: 24,3261           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
024391,003197: 24,3262           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
024392,003198: 24,3263           51274                                    CSMINT                                
024393,003199: 24,3264           77624        LMINT              CALL                                           
024394,003200: 24,3265           27100                                    LEMCONIC                              #  EXTRAPOLATE LEM
024395,003201: 24,3266           77775                           VLOAD                                          
024396,003202: 24,3267           00001                                    RATT                                  
024397,003203: 24,3270           26352                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
024398,003204: 24,3271           00007                                    VATT                                  
024399,003205: 24,3272           16360                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
024400,003206: 24,3273           00015                                    TAT                                   
024401,003207: 24,3274           34041        CSMINT             STCALL   TDEC1                                 
024402,003208: 24,3275           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM
024403,003209: 24,3276           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024404,003210: 24,3277           00007                                    VATT                                  
024405,003211: 24,3300           02360                                    LMVEL                                 
024406,003212: 24,3301           76521                           MXV      VSL1                                  
024407,003213: 24,3302           01734                                    REFSMMAT                              
024408,003214: 24,3303           77776                           EXIT                                           
024409,003215: 24,3304           06027                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
024410,003216: 24,3305           52602                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
024411,003217: 24,3306           06037                           TC       INTPRET                               
024412,003218: 24,3307           25761                           STOVL    LOSVEL                                
024413,003219: 24,3310           00001                                    RATT                                  
024414,003220: 24,3311           43051                           VSU      BOFF                                  
024415,003221: 24,3312           02352                                    LMPOS                                 
024416,003222: 24,3313           00350                                    RNDVZFLG                              
024417,003223: 24,3314           51321                                    NOTSHIFT                              
024418,003224: 24,3315           77604                           BOVB                                           
024419,003225: 24,3316           57753                                    TCDANZIG                              
024420,003226: 24,3317           77661                           VSL                                            
024421,003227: 24,3320           20212                                    9D                                    
024422,003228: 24,3321           41056        NOTSHIFT           UNIT     BOVB                                  #  IF OVERFLOW, RANGE MUST BE GREATER
024423,003229: 24,3322           50102                                    526ALARM                              #  THAN 400 N. M.
024424,003230: 24,3323           76521                           MXV      VSL1                                  
024425,003231: 24,3324           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
024426,003232: 24,3325           15102                           STODL    RRTARGET                              
024427,003233: 24,3326           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
024428,003234: 24,3327           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
024429,003235: 24,3330           77614                           CLRGO                                          
024430,003236: 24,3331           00231                                    RRNBSW                                
024431,003237: 24,3332           01757                                    LS21X                                 
024432,003238: 

Page 566

024434,003240:                                                                                                  #  PROGRAM NAME_  LPS20.2  400 NM RANGE CHECK
024435,003241:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
024436,003242: 
024437,003243:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024438,003244:                                                                                                  #        COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024439,003245: 
024440,003246:                                                                                                  #  CALLING SEQUENCE      CALL
024441,003247:                                                                                                  #                                LPS20.2
024442,003248: 
024443,003249:                                                                                                  #  SUBROUTINES CALLED_  NONE
024444,003250: 
024445,003251:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024446,003252: 
024447,003253:                                                                                                  #  ERROR EXITS_  RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024448,003254: 
024449,003255:                                                                                                  #  ALARMS_  NONE
024450,003256: 
024451,003257:                                                                                                  #  OUTPUT_  NONE
024452,003258: 
024453,003259:                                                                                                  #  INITIALIZED ERASEABLE_
024454,003260:                                                                                                  #        PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024455,003261: 
024456,003262:                                                                                                  #  DEBRIS
024457,003263:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024458,003264: 
024459,003265: 25,2000                                           SETLOC   P20S1                                 
024460,003266: 25,2000                                           BANK                                           
024461,003267: 25,3565                                           COUNT*   $$/LPS20                              
024462,003268: 
024463,003269: 25,3565           45345        LPS20.2            DLOAD    DSU                                   
024464,003270: 25,3566           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
024465,003271: 25,3567           13600                                    FHNM                                  #  OVER 400NM  _
024466,003272: 25,3570           77644                           BPL                                            
024467,003273: 25,3571           53574                                    TOFAR                                 
024468,003274: 25,3572           43535                           SLOAD    RVQ                                   
024469,003275: 25,3573           06522                                    ZERO/SP                               
024470,003276: 25,3574           43535        TOFAR              SLOAD    RVQ                                   
024471,003277: 25,3575           13577                                    ONE/SP                                
024472,003278: 25,3576           00001        ONE/SP             DEC      1          B-14                       

Page 567

024474,003280: 25,3577           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
024475,003281: 

Page 568

024477,003283:                                                                                                  #  PROGRAM NAME:  LRS22.1 (DATA READ SUBROUTINE 1)
024478,003284:                                                                                                  #  MOD. NO.: 1           BY: P. VOLANTE  SDC             DATE:  11-15-66
024479,003285: 
024480,003286:                                                                                                  #  FUNCTIONAL DESCRIPTION
024481,003287:                                                                                                  #        1)      READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME.  CONVERTS THIS
024482,003288:                                                                                                  #                DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3).  CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024483,003289:                                                                                                  #                RR REPOSITION AND RR CDU FAIL
024484,003290:                                                                                                  #        2)      COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024485,003291: 
024486,003292:                                                                                                  #  CALLING SEQUENCE:  BANKCALL FOR LRS22.1
024487,003293: 
024488,003294:                                                                                                  #  SUBROUTINES CALLED:
024489,003295:                                                                                                  #        RRRDOT          LPS20.1
024490,003296:                                                                                                  #        RRRANGE         BANKCALL
024491,003297:                                                                                                  #        RADSTALL        CDULOGIC
024492,003298:                                                                                                  #        RRNB            SMNB
024493,003299: 
024494,003300:                                                                                                  #  NORMAL EXIT:  RETURN TO CALLER+1 WITH MPAC SET TO +0
024495,003301: 
024496,003302:                                                                                                  #  ERROR EXITS:  RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024497,003303:                                                                                                  #        00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024498,003304:                                                                                                  #        00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024499,003305: 
024500,003306:                                                                                                  #  ALARMS:  521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024501,003307:                                                                                                  #        (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024502,003308: 
024503,003309:                                                                                                  #  OUTPUT:  RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024504,003310:                                                                                                  #        RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024505,003311: 
024506,003312:                                                                                                  #        ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024507,003313:                                                                                                  #                RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024508,003314:                                                                                                  #                RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024509,003315:                                                                                                  #                RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024510,003316:                                                                                                  #                AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024511,003317:                                                                                                  #                MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024512,003318: 
024513,003319:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024514,003320:                                                                                                  #        RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:

Page 569

024516,003322:                                                                                                  #                1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024517,003323:                                                                                                  #                2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024518,003324:                                                                                                  #        THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024519,003325: 
024520,003326:                                                                                                  #  DEBRIS:  LRS22.1X, A, L, Q, PUSHLIST
024521,003327: 
024522,003328: 32,2366                                           BANK     32                                    
024523,003329: 32,2000                                           SETLOC   LRS22                                 
024524,003330: 32,2000                                           BANK                                           
024525,003331: 32,2366                                           COUNT*   $$/LRS22                              
024526,003332: 
024527,003333: 32,2366           04645        LRS22.1            TC       MAKECADR                              
024528,003334: 32,2367           55737                           TS       LRS22.1X                              
024529,003335: 32,2370           05516                           TC       DOWNFLAG                              
024530,003336: 32,2371           00120                           ADRES    RNGSCFLG                              
024531,003337: 32,2372           00004                           INHINT                                         
024532,003338: 32,2373           34751                           CAF      BIT3                                  
024533,003339: 32,2374           00006                           EXTEND                                         #  GET RR RANGE SCALE
024534,003340: 32,2375           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
024535,003341: 32,2376           54001                           TS       L                                     
024536,003342: 32,2377           44751                           CS       RRRSBIT                               
024537,003343: 32,2400           70110                           MASK     RADMODES                              
024538,003344: 32,2401           60001                           AD       L                                     
024539,003345: 32,2402           54110                           TS       RADMODES                              
024540,003346: 32,2403           00003                           RELINT                                         
024541,003347: 32,2404           04616        READRDOT           TC       BANKCALL                              
024542,003348: 32,2405           53103                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
024543,003349: 32,2406           04616                           TC       BANKCALL                              
024544,003350: 32,2407           17714                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
024545,003351: 32,2410           12542                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
024546,003352: 
024547,003353: 32,2411           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
024548,003354: 32,2412           53106                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
024549,003355: 32,2413           52162                           DXCH     MPAC       +5                         #  TEMP BUFFER FOR DOWNLINK
024550,003356: 32,2414           53102                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
024551,003357: 32,2415           53747                           DXCH     RDOTMSAV                              
024552,003358: 32,2416           00006                           EXTEND                                         
024553,003359: 32,2417           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
024554,003360: 32,2420           52160                           DXCH     MPAC       +3                         #  TEMP BUFFER FOR DOWNLINK
024555,003361: 32,2421           30032                           CA       CDUX                                  
024556,003362: 32,2422           54156                           TS       MPAC       +2                         #  TEMP BUFFER FOR DOWNLINK
024557,003363: 32,2423           00006                           EXTEND                                         
024558,003364: 32,2424           30025                           DCA      TIME2                                 #  SAVE TIME
024559,003365: 32,2425           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
024560,003366: 32,2426           00006                           EXTEND                                         
024561,003367: 32,2427           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024562,003368: 32,2430           53110                           DXCH     TANG                                  

Page 570

024564,003370: 32,2431           00003                           RELINT                                         
024565,003371: 32,2432           04616                           TC       BANKCALL                              
024566,003372: 32,2433           53105                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
024567,003373: 32,2434           04616                           TC       BANKCALL                              
024568,003374: 32,2435           17714                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
024569,003375: 32,2436           02536                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
024570,003376: 32,2437           00004                           INHINT                                         #  COPY CYCLE FOR MARK DATA ON DOWNLINK
024571,003377: 32,2440           53334                           DXCH     DNRRANGE                              #  RANGE, RANGE RATE (RAW DATA)
024572,003378: 32,2441           53761                           DXCH     RANGRDOT                              
024573,003379: 32,2442           52162                           DXCH     MPAC       +5                         
024574,003380: 32,2443           53755                           DXCH     MKTIME                                #  MARK TIME
024575,003381: 32,2444           52160                           DXCH     MPAC       +3                         
024576,003382: 32,2445           53460                           DXCH     AIG                                   #  CDUY, CDUZ
024577,003383: 32,2446           00006                           EXTEND                                         
024578,003384: 32,2447           31110                           DCA      TANG                                  #  PRESERVE TANG
024579,003385: 32,2450           53753                           DXCH     TANGNB                                #  TRUNNION AND SHAFT ANGLES
024580,003386: 32,2451           30156                           CA       MPAC       +2                         
024581,003387: 32,2452           55461                           TS       AOG                                   #  CDUX
024582,003388: 32,2453           06037                           TC       INTPRET                               
024583,003389: 32,2454           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
024584,003390: 32,2455           03747                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
024585,003391: 32,2456           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
024586,003392: 32,2457           20217                                    14D                                   #  FT./SECOND PER BIT
024587,003393: 32,2460           24002                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
024588,003394: 32,2461           03751                           STORE    RDOTM                                 
024589,003395: 32,2462           47135                           SLOAD    RTB                                   
024590,003396: 32,2463           01110                                    TANG                                  #  GET TRUNION ANGLE
024591,003397: 32,2464           21576                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
024592,003398: 32,2465           03734                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
024593,003399: 32,2466           47135                           SLOAD    RTB                                   
024594,003400: 32,2467           01111                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
024595,003401: 32,2470           21576                                    CDULOGIC                              
024596,003402: 32,2471           17736                           STODL    RRSHAFT                               
024597,003403: 32,2472           01102                                    SAMPLSUM                              
024598,003404: 32,2473           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
024599,003405: 32,2474           24004                                    RANGCONV                              #  PER BIT, END WITH METERS, SCALED -29
024600,003406: 32,2475           37757                           STCALL   RM                                    
024601,003407: 32,2476           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
024602,003408: 32,2477           17741                           STODL    RRBORSIT                              #  AND SAVE
024603,003409: 32,2500           00025                                    20D                                   
024604,003410: 32,2501           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
024605,003411: 32,2502           51255                                    LPS20.1                               
024606,003412: 32,2503           77776                           EXIT                                           
024607,003413: 32,2504           31457                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
024608,003414: 32,2505           54766                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
024609,003415: 32,2506           31460                           CA       AMG                                   
024610,003416: 32,2507           54770                           TS       CDUSPOT    +2                         
024611,003417: 32,2510           31461                           CA       AOG                                   
024612,003418: 32,2511           54772                           TS       CDUSPOT    +4                         
024613,003419: 32,2512           06037                           TC       INTPRET                               

Page 571

024615,003421: 32,2513           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
024616,003422: 32,2514           01102                                    RRTARGET                              
024617,003423: 32,2515           47651                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
024618,003424: 32,2516           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
024619,003425: 32,2517           03741                                    RRBORSIT                              
024620,003426: 32,2520           65552                           SL1      ACOS                                  #  BETWEEN THEM
024621,003427: 32,2521           01046                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
024622,003428: 32,2522           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
024623,003429: 32,2523           24546                                    THREEDEG                              
024624,003430: 32,2524           64531                                    NORMEXIT                              #  YES - NORMAL EXIT
024625,003431: 
024626,003432: 32,2525           77776                           EXIT                                           #  ERROR EXIT 2
024627,003433: 32,2526           34752                           CAF      BIT2                                  #  SET ERROR CODE
024628,003434: 32,2527           54154                           TS       MPAC                                  
024629,003435: 32,2530           12534                           TCF      OUT22.1                               
024630,003436: 
024631,003437: 32,2531           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT - SET MPAC EQUAL ZERO
024632,003438: 32,2532           34755                           CAF      ZERO                                  
024633,003439: 32,2533           54154                           TS       MPAC                                  
024634,003440: 32,2534           31737        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
024635,003441: 32,2535           04640                           TC       BANKJUMP                              
024636,003442: 32,2536           30101        CHEXERR            CAE      FLAGWRD5                              
024637,003443: 32,2537           74742                           MASK     RNGSCBIT                              
024638,003444: 32,2540           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
024639,003445: 32,2541           12404                           TCF      READRDOT                              #  YES - TAKE ANOTHER READING
024640,003446: 
024641,003447: 32,2542           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
024642,003448: 32,2543           54154                           TS       MPAC                                  
024643,003449: 32,2544           02534                           TC       OUT22.1                               
024644,003450: 32,2545           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES, SCALED REVS, B0
024645,003451: 
024646,003452: 32,2547     1101               RRLOSVEC           EQUALS   RRTARGET                              
024647,003453: 

Page 572

024649,003455:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024650,003456:                                                                                                  #  MOD. NO.: 1           BY: P VOLANTE  SDC              DATE   4-11-67
024651,003457: 
024652,003458:                                                                                                  #  FUNCTIONAL DESCRIPTION-

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

024654,003460:                                                                                                  #        2)  CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024655,003461: 
024656,003462:                                                                                                  #  CALLING SEQUENCE-  BANKCALL FOR LRS22.2
024657,003463: 
024658,003464:                                                                                                  #  SUBROUTINES CALLED:  G+N, AUTO   SETMAXDB
024659,003465: 
024660,003466:                                                                                                  #  NORMAL EXIT-  RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024661,003467: 
024662,003468:                                                                                                  #  ERROR EXIT-  RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024663,003469: 
024664,003470:                                                                                                  #  ALARMS-  NONE                                                             IN THE AUTO MODE
024665,003471: 
024666,003472:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
024667,003473:                                                                                                  #        RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024668,003474:                                                                                                  #        RM - RR RANGE, METERS B-29, FROM LRS22.1
024669,003475:                                                                                                  #        BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024670,003476: 
024671,003477:                                                                                                  #  DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024672,003478: 
024673,003479: 24,2000                                           SETLOC   P20S                                  
024674,003480: 24,2000                                           BANK                                           
024675,003481: 24,3333           04645        LRS22.2            TC       MAKECADR                              
024676,003482: 24,3334           55737                           TS       LRS22.1X                              
024677,003483: 24,3335           06037                           TC       INTPRET                               
024678,003484:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF 
024679,003485: 24,3336           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
024680,003486: 24,3337           03745                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
024681,003487:                                                                                                  #  LOS VECTOR, A HALF UNIT VECTOR
024682,003488:                                                                                                  #  IN NAV BASE AXES)
024683,003489: 24,3340           50025                           DSU      BMN                                   
024684,003490: 24,3341           11355                                    30DEG                                 
024685,003491: 24,3342           51347                                    OKEXIT                                #  NORMAL EXIT - WITHIN 30 DEG.
024686,003492: 24,3343           77776                           EXIT                                           #  ERROR EXIT - NOT WITHIN 30 DEG.
024687,003493: 24,3344           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
024688,003494: 24,3345           54154                           TS       MPAC                                  
024689,003495: 24,3346           13352                           TCF      OUT22.2                               
024690,003496: 24,3347           77776        OKEXIT             EXIT                                           #  NORMAL EXIT - SET MPAC = ZERO
024691,003497: 

Page 573

024693,003499: 24,3350           34755                           CAF      ZERO                                  
024694,003500: 24,3351           54154                           TS       MPAC                                  
024695,003501: 24,3352           31737        OUT22.2            CAE      LRS22.1X                              
024696,003502: 24,3353           04640                           TC       BANKJUMP                              
024697,003503: 
024698,003504: 24,3354           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES, SCALED REVS, B0
024699,003505: 

Page 574

024701,003507:                                                                                                  #  PROGRAM NAME - LSR22.3                                DATE - 29 MAY 1967
024702,003508:                                                                                                  #  MOD. NO 3                                             LOG SECTION - P20-25
024703,003509:                                                                                                  #  MOD. BY - DANFORTH                                    ASSEMBLY LEMP20S REV 10
024704,003510: 
024705,003511:                                                                                                  #  FUNCTIONAL DESCRIPTION
024706,003512:                                                                                                  #        THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024707,003513:                                                                                                  #        RADAR.  (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES).  THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024708,003514:                                                                                                  #        WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024709,003515: 
024710,003516:                                                                                                  #  CALLING SEQUENCE
024711,003517:                                                                                                  #        THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY.  THE ROUTINE IS ENTERED FROM
024712,003518:                                                                                                  #        R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA.  IF THE
024713,003519:                                                                                                  #        COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED.  THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024714,003520:                                                                                                  #        THE DEVIATIONS.  IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024715,003521:                                                                                                  #        DEVIATIONS INTO THE STATE VECTOR.  IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024716,003522:                                                                                                  #        PROCESSED FOR THIS MARK, I.E.,  R22LEM GETS THE NEXT MARK.
024717,003523: 
024718,003524:                                                                                                  #  SUBROUTINES CALLED
024719,003525:                                                                                                  #        WLINIT          LGCUPDTE        INTEGRV         INCORP1         ARCTAN
024720,003526:                                                                                                  #        GETULC          RARARANG        INCORP2         NBSM            INTSTALL
024721,003527: 
024722,003528:                                                                                                  #  OUTPUT
024723,003529:                                                                                                  #        CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024724,003530:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR
024725,003531:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024726,003532:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024727,003533:                                                                                                  #        UPDATED W-MATRIX
024728,003534: 
024729,003535:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
024730,003536:                                                                                                  #        LM AND CSM STATE VECTORS
024731,003537:                                                                                                  #        W-MATRIX
024732,003538:                                                                                                  #        MARK TIME IN MKTIME
024733,003539:                                                                                                  #        RADAR RANGE IN RM METERS B-29
024734,003540:                                                                                                  #                RANGE RATE IN RDOTM METERS/CSES B-7
024735,003541:                                                                                                  #                SHAFT ANGLE IN RRSHAFT REVS. B0
024736,003542:                                                                                                  #                TRUNNION ANGLE IN RRTRUN REVS. B0
024737,003543:                                                                                                  #        GIMBAL ANGLES   INNER IN AIG
024738,003544:                                                                                                  #                        MIDDLE IN AMG
024739,003545:                                                                                                  #                        OUTER IN AOG
024740,003546:                                                                                                  #        REFSMMAT
024741,003547:                                                                                                  #        RENDWFLG
024742,003548:                                                                                                  #        NOANGFLG
024743,003549:                                                                                                  #        VEHUPFLG
024744,003550: 
024745,003551:                                                                                                  #  DEBRIS
024746,003552:                                                                                                  #        PUSHLIST -- ALL
024747,003553:                                                                                                  #        MX, MY, MZ (VECTORS)

Page 575

024749,003555:                                                                                                  #        ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024750,003556: 
024751,003557: 13,2207                                           BANK     13                                    
024752,003558: 26,2000                                           SETLOC   P20S3                                 
024753,003559: 26,2000                                           BANK                                           
024754,003560: 
024755,003561: 26,2412  E7,1456                                  EBANK=   LOSCOUNT                              
024756,003562: 26,2412                                           COUNT*   $$/LSR22                              
024757,003563: 26,2412           77624        LSR22.3            CALL                                           
024758,003564: 26,2413           11244                                    GRP2PC                                
024759,003565: 26,2414           43014                           BON      SET                                   
024760,003566: 26,2415           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
024761,003567: 26,2416           55200                                    LSR22.4                               #  YES
024762,003568: 26,2417           02466                                    DMENFLG                               
024763,003569: 26,2420           45014                           BOFF     CALL                                  
024764,003570: 26,2421           00747                                    VEHUPFLG                              
024765,003571: 26,2422           54454                                    DOLEM                                 
024766,003572: 26,2423           27414                                    INTSTALL                              
024767,003573: 26,2424           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
024768,003574: 26,2425           01674                                    VINTFLAG                              
024769,003575: 26,2426           26644                                    SETIFLGS                              
024770,003576: 26,2427           77624                           CALL                                           
024771,003577: 26,2430           55242                                    INTGRCAL                              
024772,003578: 26,2431           77624                           CALL                                           
024773,003579: 26,2432           11244                                    GRP2PC                                
024774,003580: 26,2433           77624                           CALL                                           
024775,003581: 26,2434           27414                                    INTSTALL                              
024776,003582: 26,2435           43014                           CLEAR    BOFF                                  
024777,003583: 26,2436           01676                                    DIM0FLAG                              
024778,003584: 26,2437           02756                                    RENDWFLG                              
024779,003585: 26,2440           54444                                    NOTWCSM                               
024780,003586: 26,2441           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
024781,003587: 26,2442           01476                                    DIM0FLAG                              
024782,003588: 26,2443           01475                                    D6OR9FLG                              
024783,003589: 26,2444           43014        NOTWCSM            SET      CLEAR                                 
024784,003590: 26,2445           01474                                    VINTFLAG                              
024785,003591: 26,2446           01673                                    INTYPFLG                              
024786,003592: 26,2447           45014                           SET      CALL                                  
024787,003593: 26,2450           01472                                    STATEFLG                              
024788,003594: 26,2451           55242                                    INTGRCAL                              
024789,003595: 26,2452           77650                           GOTO                                           
024790,003596: 26,2453           54504                                    MARKTEST                              
024791,003597: 26,2454           77624        DOLEM              CALL                                           
024792,003598: 26,2455           27414                                    INTSTALL                              
024793,003599: 26,2456           45014                           SET      CALL                                  
024794,003600: 26,2457           01474                                    VINTFLAG                              
024795,003601: 26,2460           26644                                    SETIFLGS                              
024796,003602: 26,2461           77624                           CALL                                           
024797,003603: 26,2462           55242                                    INTGRCAL                              

Page 576

024799,003605: 26,2463           77624                           CALL                                           
024800,003606: 26,2464           11244                                    GRP2PC                                
024801,003607: 26,2465           77624                           CALL                                           
024802,003608: 26,2466           27414                                    INTSTALL                              
024803,003609: 26,2467           43014                           CLEAR    BOFF                                  
024804,003610: 26,2470           01676                                    DIM0FLAG                              
024805,003611: 26,2471           02756                                    RENDWFLG                              
024806,003612: 26,2472           54476                                    NOTWLEM                               
024807,003613: 26,2473           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
024808,003614: 26,2474           01476                                    DIM0FLAG                              
024809,003615: 26,2475           01475                                    D6OR9FLG                              
024810,003616: 26,2476           43014        NOTWLEM            CLEAR    CLEAR                                 
024811,003617: 26,2477           01673                                    INTYPFLG                              
024812,003618: 26,2500           01674                                    VINTFLAG                              
024813,003619: 26,2501           45014                           SET      CALL                                  
024814,003620: 26,2502           01472                                    STATEFLG                              
024815,003621: 26,2503           55242                                    INTGRCAL                              
024816,003622: 26,2504           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
024817,003623: 26,2505           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
024818,003624: 26,2506           54510                                    RANGEBQ                               
024819,003625: 26,2507           55251                                    WLINIT                                #  YES - REINITIALIZE
024820,003626: 26,2510           77414        RANGEBQ            BON      EXIT                                  #  DON'T CALL R65 IF ON SURFACE
024821,003627: 26,2511           04307                                    SURFFLAG                              
024822,003628: 26,2512           54520                                    RANGEBQ1                              
024823,003629: 26,2513           34755                           CA       ZERO                                  
024824,003630: 26,2514           55745                           TS       R65CNTR                               
024825,003631: 26,2515           04616                           TC       BANKCALL                              
024826,003632: 26,2516           46123                           CADR     R65LEM                                
024827,003633: 26,2517           06037                           TC       INTPRET                               
024828,003634: 26,2520           43174        RANGEBQ1           AXT,2    BON                                   #  CLEAR X2
024829,003635: 26,2521           00000                                    0                                     
024830,003636: 26,2522           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
024831,003637: 26,2523           54526                                    SETX2                                 #  YES.  STORE ZERO IN SCALSHFT REGISTER
024832,003638: 26,2524           77714                           INCR,2                                         
024833,003639: 26,2525           00002                                    2                                     
024834,003640: 26,2526           45134        SETX2              SXA,2    CALL                                  
024835,003641: 26,2527           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
024836,003642: 26,2530           11244                                    GRP2PC                                
024837,003643: 26,2531           66170                           AXT,1    SXA,1                                 #  STORE RANGE CODE (1) FOR R3 IN NOUN 49
024838,003644: 26,2532           00001                                    1                                     
024839,003645: 26,2533           03745                                    WHCHREAD                              
024840,003646: 26,2534           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
024841,003647: 26,2535           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION (B-40)
024842,003648: 26,2536           20635                                    28D                                   
024843,003649: 26,2537           77634                           RTB                                            
024844,003650: 26,2540           21633                                    TPMODE                                #  AND SAVE IN 20D
024845,003651: 26,2541           00025                           STORE    20D                                   
024846,003652: 26,2542           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS, DELTAQ
024847,003653: 26,2543           55333                                    GETULC                                #  B-VECTORS FOR RANGE
024848,003654: 26,2544           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED

Page 577

024850,003656: 26,2545           00707                                    VEHUPFLG                              
024851,003657: 26,2546           54547                                    +1                                    
024852,003658: 26,2547           27525                           STOVL    BVECTOR                               
024853,003659: 26,2550           06522                                    ZEROVECS                              
024854,003660: 26,2551           03533                           STORE    BVECTOR    +6                         #  B1
024855,003661: 26,2552           17541                           STODL    BVECTOR    +12D                       #  B2
024856,003662: 26,2553           00045                                    36D                                   
024857,003663: 26,2554           44257                           SRR*     BDSU                                  
024858,003664: 26,2555           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
024859,003665: 26,2556           03757                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
024860,003666: 26,2557           77657                           SLR*                                           
024861,003667: 26,2560           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
024862,003668: 26,2561           17547                           STODL    DELTAQ                                #  EARTH B-29.  MOON B-27
024863,003669: 26,2562           00045                                    36D                                   #  RLC B-29/B-27
024864,003670: 26,2563           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
024865,003671: 26,2564           00047                                    X1                                    
024866,003672: 26,2565           53605                           DMP      SR*                                   
024867,003673: 26,2566           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR (B12) THEN
024868,003674: 26,2567           20577                                    0          -2,1                       #  UNNORMALIZE
024869,003675: 26,2570           53657                           SR*      SR*                                   
024870,003676: 26,2571           20601                                    0,1                                   
024871,003677: 26,2572           57176                                    0,2                                   
024872,003678: 26,2573           47057                           SR*      RTB                                   
024873,003679: 26,2574           57176                                    0,2                                   
024874,003680: 26,2575           21633                                    TPMODE                                
024875,003681: 26,2576           02707                           STORE    VARIANCE                              #  B-40
024876,003682: 26,2577           76276                           DCOMP    TAD                                   
024877,003683: 26,2600           00025                                    20D                                   #  B-40
024878,003684: 26,2601           72240                           BMN      TLOAD                                 
024879,003685: 26,2602           54605                                    QOK                                   
024880,003686: 26,2603           00025                                    20D                                   #  B-40
024881,003687: 26,2604           02707                           STORE    VARIANCE                              
024882,003688: 26,2605           77624        QOK                CALL                                           
024883,003689: 26,2606           55401                                    LGCUPDTE                              
024884,003690: 
024885,003691: 26,2607           45131                           SSP      CALL                                  
024886,003692: 26,2610           03746                                    WHCHREAD                              
024887,003693: 26,2611           00002                           DEC      2          B-14                       #  STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024888,003694: 26,2612           11244                                    GRP2PC                                
024889,003695: 26,2613           77624                           CALL                                           #  B-VECTOR, DELTAQ FOR RANGE RATE
024890,003696: 26,2614           55333                                    GETULC                                
024891,003697: 26,2615           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
024892,003698: 26,2616           00045                                    36D                                   #  AND SHIFT TO B-23
024893,003699: 26,2617           57202                                    0          -4,2                       
024894,003700: 26,2620           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
024895,003701: 26,2621           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
024896,003702: 26,2622           00707                                    VEHUPFLG                              
024897,003703: 26,2623           54624                                    +1                                    
024898,003704: 26,2624           77761                           VXSC                                           
024899,003705: 26,2625           00045                                    36D                                   #  B1 = RLC (B-24/B-22)

Page 578

024901,003707: 26,2626           27533                           STOVL    BVECTOR    +6                         
024902,003708: 26,2627           01653                                    NUVLEM                                
024903,003709: 26,2630           53257                           VSR*     VAD                                   
024904,003710: 26,2631           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024905,003711: 26,2632           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
024906,003712: 26,2633           53715                           PDVL     VSR*                                  #  VL TO PD6
024907,003713: 26,2634           01601                                    NUVCSM                                
024908,003714: 26,2635           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024909,003715: 26,2636           52255                           VAD      VSU                                   
024910,003716: 26,2637           01615                                    VCVCSM                                
024911,003717: 26,2640           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
024912,003718: 26,2641           00001                                    0                                     
024913,003719: 26,2642           00007                                    6                                     
024914,003720: 26,2643           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
024915,003721: 26,2644           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
024916,003722: 26,2645           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
024917,003723: 26,2646           01773                                    RATEVAR                               
024918,003724: 26,2647           02707                           STORE    VARIANCE                              
024919,003725: 26,2650           54335                           SLOAD    SR                                    
024920,003726: 26,2651           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
024921,003727: 26,2652           20621                                    16D                                   #  SHIFT TO DP (B-4)
024922,003728: 26,2653           00031                           STORE    24D                                   #  AND SAVE IN 24D
024923,003729: 26,2654           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
024924,003730: 26,2655           02707                                    VARIANCE                              
024925,003731: 26,2656           54662                                    VOK                                   #  BRANCH - NO
024926,003732: 26,2657           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
024927,003733: 26,2660           00031                                    24D                                   
024928,003734: 26,2661           02707                           STORE    VARIANCE                              
024929,003735: 26,2662           60545        VOK                DLOAD    SR2                                   #  RDOT (PD12) FROM B-8/B-6
024930,003736: 26,2663           53725                           PDDL     SLR*                                  #  TO B-10/B-8
024931,003737: 26,2664           03751                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
024932,003738: 26,2665           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
024933,003739: 26,2666           77625                           DSU                                            
024934,003740: 26,2667           77675                           DMPR                                           
024935,003741: 26,2670           00045                                    36D                                   
024936,003742: 26,2671           27547                           STOVL    DELTAQ                                #  B-33
024937,003743: 26,2672           00001                                    0                                     #  NOW GET B0
024938,003744: 26,2673           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
024939,003745: 26,2674           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
024940,003746: 26,2675           00707                                    VEHUPFLG                              
024941,003747: 26,2676           54677                                    +1                                    
024942,003748: 26,2677           77657                           VSR*                                           
024943,003749: 26,2700           57200                                    0          -2,2                       #  SCALED B-5
024944,003750: 26,2701           27525                           STOVL    BVECTOR                               
024945,003751: 26,2702           06522                                    ZEROVECS                              
024946,003752: 26,2703           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
024947,003753: 26,2704           27541                           STOVL    BVECTOR    +12D                       
024948,003754: 26,2705           03525                                    BVECTOR                               
024949,003755: 26,2706           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
024950,003756: 26,2707           00025                                    20D                                   #  SHIFT COUNT IN 20D

Page 579

024952,003758: 26,2710           51575                           VLOAD    ABVAL                                 
024953,003759: 26,2711           03533                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
024954,003760: 26,2712           71301                           NORM     DLOAD                                 
024955,003761: 26,2713           00027                                    22D                                   #  SHIFT COUNT IN 22D
024956,003762: 26,2714           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
024957,003763: 26,2715           50025                           DSU      BMN                                   #  BRANCH - B0 HAS SMALLER SHIFT COUNT
024958,003764: 26,2716           00025                                    20D                                   
024959,003765: 26,2717           54723                                    VOK1                                  
024960,003766: 26,2720           52150                           LXA,1    GOTO                                  
024961,003767: 26,2721           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
024962,003768: 26,2722           54725                                    VOK2                                  
024963,003769: 26,2723           77750        VOK1               LXA,1                                          
024964,003770: 26,2724           00024                                    20D                                   
024965,003771: 26,2725           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024966,003772: 26,2726           03525                                    BVECTOR                               #  WITH THI SSHIFT COUNT
024967,003773: 26,2727           20201                                    0,1                                   
024968,003774: 26,2730           27525                           STOVL    BVECTOR                               
024969,003775: 26,2731           03533                                    BVECTOR    +6                         
024970,003776: 26,2732           77657                           VSL*                                           
024971,003777: 26,2733           20201                                    0,1                                   
024972,003778: 26,2734           17533                           STODL    BVECTOR    +6                         
024973,003779: 26,2735           03547                                    DELTAQ                                
024974,003780: 26,2736           77657                           SL*                                            
024975,003781: 26,2737           20201                                    0,1                                   
024976,003782: 26,2740           03547                           STORE    DELTAQ                                
024977,003783: 26,2741           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
024978,003784: 26,2742           00045                                    36D                                   
024979,003785: 26,2743           20200                                    0          -1,1                       
024980,003786: 26,2744           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
024981,003787: 26,2745           02707                                    VARIANCE                              
024982,003788: 26,2746           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024983,003789: 26,2747           21633                                    TPMODE                                
024984,003790: 26,2750           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
024985,003791: 26,2751           55401                                    LGCUPDTE                              
024986,003792: 
024987,003793: 26,2752           77624                           CALL                                           
024988,003794: 26,2753           11244                                    GRP2PC                                
024989,003795: 26,2754           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
024990,003796: 26,2755           04307                                    SURFFLAG                              
024991,003797: 26,2756           55176                                    RENDEND                               #  NO
024992,003798: 26,2757  E7,1457                                  EBANK=   AIG                                   
024993,003799: 26,2757           33332        MXMYMZ             CAF      AIGBANK                               
024994,003800: 26,2760           54006                           TS       BBANK                                 
024995,003801: 26,2761           31457                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
024996,003802: 26,2762           54766                           TS       CDUSPOT                               
024997,003803: 26,2763           31460                           CA       AMG                                   
024998,003804: 26,2764           54770                           TS       CDUSPOT    +2                         
024999,003805: 26,2765           31461                           CA       AOG                                   
025000,003806: 26,2766           54772                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025001,003807: 26,2767           06037                           TC       INTPRET                               

Page 580

025003,003809: 26,2770           45175                           VLOAD    CALL                                  
025004,003810: 26,2771           06520                                    UNITX                                 
025005,003811: 26,2772           47664                                    TRG*NBSM                              
025006,003812: 26,2773           76505                           VXM      VSL1                                  
025007,003813: 26,2774           01734                                    REFSMMAT                              
025008,003814: 26,2775           27677                           STOVL    MX                                    
025009,003815: 26,2776           06516                                    UNITY                                 
025010,003816: 26,2777           77624                           CALL                                           
025011,003817: 26,3000           47673                                    *NBSM*                                
025012,003818: 26,3001           76505                           VXM      VSL1                                  
025013,003819: 26,3002           01734                                    REFSMMAT                              
025014,003820: 26,3003           27705                           STOVL    MY                                    
025015,003821: 26,3004           06514                                    UNITZ                                 
025016,003822: 26,3005           77624                           CALL                                           
025017,003823: 26,3006           47673                                    *NBSM*                                
025018,003824: 26,3007           76505                           VXM      VSL1                                  
025019,003825: 26,3010           01734                                    REFSMMAT                              
025020,003826: 26,3011           37713        SHAFTBQ            STCALL   MZ                                    
025021,003827: 26,3012           55361                                    RADARANG                              
025022,003828: 26,3013           45131                           SSP      CALL                                  #  STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025023,003829: 26,3014           03746                                    WHCHREAD                              
025024,003830: 26,3015           00003                           DEC      3          B-14                       
025025,003831: 26,3016           11244                                    GRP2PC                                
025026,003832: 26,3017           50375                           VLOAD    DOT                                   #  COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025027,003833: 26,3020           03724                                    ULC                                   
025028,003834: 26,3021           03677                                    MX                                    
025029,003835: 26,3022           77752                           SL1                                            
025030,003836: 26,3023           24023                           STOVL    SINTH                                 #  18D
025031,003837: 26,3024           03724                                    ULC                                   
025032,003838: 26,3025           72441                           DOT      SL1                                   
025033,003839: 26,3026           03713                                    MZ                                    
025034,003840: 26,3027           34021                           STCALL   COSTH                                 #  16D
025035,003841: 26,3030           26510                                    ARCTAN                                
025036,003842: 26,3031           41221                           BDSU     DMP                                   
025037,003843: 26,3032           03736                                    RRSHAFT                               
025038,003844: 26,3033           15441                                    2PI/8                                 
025039,003845: 26,3034           41472                           SL3R     PUSH                                  
025040,003846: 26,3035           52545                           DLOAD    SL3                                   
025041,003847: 26,3036           01701                                    X789                                  
025042,003848: 26,3037           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025043,003849: 26,3040           56176                                    0,2                                   
025044,003850: 26,3041           53605                           DMP      SRR*                                  
025045,003851: 26,3042           03722                                    RXZ                                   
025046,003852: 26,3043           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025047,003853: 26,3044           27547                           STOVL    DELTAQ                                #  EARTH B-29.  MOON B-27
025048,003854: 26,3045           03724                                    ULC                                   
025049,003855: 26,3046           76435                           VXV      VSL1                                  
025050,003856: 26,3047           03705                                    MY                                    
025051,003857: 26,3050           77656                           UNIT                                           
025052,003858: 26,3051           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED

Page 581

025054,003860: 26,3052           00747                                    VEHUPFLG                              
025055,003861: 26,3053           55054                                    +1                                    
025056,003862: 26,3054           27525                           STOVL    BVECTOR                               
025057,003863: 26,3055           06522                                    ZEROVECS                              
025058,003864: 26,3056           03533                           STORE    BVECTOR    +6                         
025059,003865: 26,3057           17541                           STODL    BVECTOR    +12D                       
025060,003866: 26,3060           03722                                    RXZ                                   
025061,003867: 26,3061           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025062,003868: 26,3062           20577                                    0          -2,1                       
025063,003869: 26,3063           56176                                    0,2                                   
025064,003870: 26,3064           03541                           STORE    BVECTOR    +12D                       
025065,003871: 26,3065           77735                           SLOAD                                          
025066,003872: 26,3066           02011                                    SHAFTVAR                              
025067,003873: 26,3067           41215                           DAD      DMP                                   
025068,003874: 26,3070           15436                                    IMUVAR                                #  RAD**2 B12
025069,003875: 26,3071           03722                                    RXZ                                   
025070,003876: 26,3072           41257                           SRR*     DMP                                   
025071,003877: 26,3073           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025072,003878: 26,3074           03722                                    RXZ                                   
025073,003879: 26,3075           53657                           SR*      SR*                                   
025074,003880: 26,3076           20577                                    0          -2,1                       
025075,003881: 26,3077           57176                                    0,2                                   
025076,003882: 26,3100           47057                           SR*      RTB                                   
025077,003883: 26,3101           57176                                    0,2                                   
025078,003884: 26,3102           21633                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025079,003885: 26,3103           36707                           STCALL   VARIANCE                              #  B-40
025080,003886: 26,3104           55401                                    LGCUPDTE                              
025081,003887: 
025082,003888: 26,3105           77624                           CALL                                           
025083,003889: 26,3106           11244                                    GRP2PC                                
025084,003890: 26,3107           77624        TRUNBQ             CALL                                           
025085,003891: 26,3110           55361                                    RADARANG                              
025086,003892: 26,3111           45131                           SSP      CALL                                  #  STORE TRUNNION CODE (4) FOR R3 IN N49
025087,003893: 26,3112           03746                                    WHCHREAD                              
025088,003894: 26,3113           00004                           DEC      4          B-14                       
025089,003895: 26,3114           11244                                    GRP2PC                                
025090,003896: 26,3115           47375                           VLOAD    VXV                                   
025091,003897: 26,3116           03724                                    ULC                                   
025092,003898: 26,3117           03705                                    MY                                    
025093,003899: 26,3120           47372                           VSL1     VXV                                   
025094,003900: 26,3121           03724                                    ULC                                   
025095,003901: 26,3122           77772                           VSL1                                           #  (ULC X MY) X ULC
025096,003902: 26,3123           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025097,003903: 26,3124           00747                                    VEHUPFLG                              
025098,003904: 26,3125           55126                                    +1                                    
025099,003905: 26,3126           27525                           STOVL    BVECTOR                               
025100,003906: 26,3127           06522                                    ZEROVECS                              
025101,003907: 26,3130           03533                           STORE    BVECTOR    +6                         
025102,003908: 26,3131           17541                           STODL    BVECTOR    +12D                       
025103,003909: 26,3132           03722                                    RXZ                                   

Page 582

025105,003911: 26,3133           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025106,003912: 26,3134           20577                                    0          -2,1                       
025107,003913: 26,3135           56176                                    0,2                                   
025108,003914: 26,3136           03543                           STORE    BVECTOR    +14D                       
025109,003915: 26,3137           77735                           SLOAD                                          
025110,003916: 26,3140           02012                                    TRUNVAR                               
025111,003917: 26,3141           41215                           DAD      DMP                                   
025112,003918: 26,3142           15436                                    IMUVAR                                
025113,003919: 26,3143           03722                                    RXZ                                   
025114,003920: 26,3144           41257                           SRR*     DMP                                   
025115,003921: 26,3145           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025116,003922: 26,3146           03722                                    RXZ                                   
025117,003923: 26,3147           53657                           SR*      SR*                                   
025118,003924: 26,3150           20577                                    0          -2,1                       
025119,003925: 26,3151           57176                                    0,2                                   
025120,003926: 26,3152           47057                           SR*      RTB                                   
025121,003927: 26,3153           57176                                    0,2                                   
025122,003928: 26,3154           21633                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025123,003929: 26,3155           16707                           STODL    VARIANCE                              
025124,003930: 26,3156           03732                                    SINTHETA                              
025125,003931: 26,3157           44336                           ASIN     BDSU                                  #  SIN THETA IN PD6
025126,003932: 26,3160           03734                                    RRTRUN                                
025127,003933: 26,3161           56405                           DMP      SL3R                                  
025128,003934: 26,3162           15441                                    2PI/8                                 
025129,003935: 26,3163           52525                           PDDL     SL3                                   
025130,003936: 26,3164           01703                                    X789       +2                         
025131,003937: 26,3165           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025132,003938: 26,3166           56176                                    0,2                                   
025133,003939: 26,3167           53605                           DMP      SRR*                                  
025134,003940: 26,3170           03722                                    RXZ                                   
025135,003941: 26,3171           21601                                    0,1                                   
025136,003942: 26,3172           37547                           STCALL   DELTAQ                                #  EARTH B-29.  MOON B-27
025137,003943: 26,3173           55401                                    LGCUPDTE                              
025138,003944: 26,3174           77624                           CALL                                           
025139,003945: 26,3175           11244                                    GRP2PC                                
025140,003946: 26,3176           77650        RENDEND            GOTO                                           
025141,003947: 26,3177           50566                                    R22LEM93                              
025142,003948: 
025143,003949:                                                                                                  #  FUNCTIONAL DESCRIPTION
025144,003950:                                                                                                  #        LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025145,003951:                                                                                                  #        COMPUTER ONLY.  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025146,003952:                                                                                                  #        AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025147,003953: 
025148,003954:                                                                                                  #  SUBROUTINES CALLED
025149,003955:                                                                                                  #        INSTALL         LGCUPDTE        INCORP1         RP-TO-R
025150,003956:                                                                                                  #        INTEGRV         GETULC          INCORP2
025151,003957: 
025152,003958:                                                                                                  #  OUTPUT
025153,003959:                                                                                                  #        CORRECTED CSM STATE VECTOR (PERMANENT)
025154,003960:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR

Page 583

025156,003962:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025157,003963:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025158,003964:                                                                                                  #        UPDATED W-MATRIX
025159,003965: 
025160,003966:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025161,003967:                                                                                                  #        LM AND CSM STATE VECTORS
025162,003968:                                                                                                  #        W-MATRIX
025163,003969:                                                                                                  #        MARK TIME IN MKTIME
025164,003970:                                                                                                  #        RADAR RANGE IN RM METERS B-29
025165,003971:                                                                                                  #        RANGE RATE IN RDOTM METERS/CSEC B-7
025166,003972:                                                                                                  #        VEHUPFLG
025167,003973: 
025168,003974: 26,3200           77624        LSR22.4            CALL                                           
025169,003975: 26,3201           27414                                    INTSTALL                              
025170,003976: 26,3202           43014                           SET      CLEAR                                 
025171,003977: 26,3203           01472                                    STATEFLG                              
025172,003978: 26,3204           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
025173,003979: 26,3205           77624                           CALL                                           
025174,003980: 26,3206           55242                                    INTGRCAL                              
025175,003981: 26,3207           77624                           CALL                                           
025176,003982: 26,3210           11244                                    GRP2PC                                
025177,003983: 26,3211           45014                           CLEAR    CALL                                  
025178,003984: 26,3212           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
025179,003985: 26,3213           27414                                    INTSTALL                              
025180,003986: 26,3214           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
025181,003987: 26,3215           03463                                    MARKCTR                               
025182,003988: 26,3216           55231                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
025183,003989: 26,3217           43014                           CLEAR    SET                                   
025184,003990: 26,3220           01675                                    D6OR9FLG                              
025185,003991: 26,3221           01476                                    DIM0FLAG                              
025186,003992: 26,3222           43014                           SET      CLEAR                                 
025187,003993: 26,3223           01474                                    VINTFLAG                              
025188,003994: 26,3224           01673                                    INTYPFLG                              
025189,003995: 26,3225           77624                           CALL                                           
025190,003996: 26,3226           55242                                    INTGRCAL                              
025191,003997: 26,3227           77650                           GOTO                                           
025192,003998: 26,3230           54510                                    RANGEBQ                               
025193,003999: 
025194,004000: 26,3231           77624        INITWMX6           CALL                                           
025195,004001: 26,3232           55251                                    WLINIT                                #  INITIALIZE W-MATRIX
025196,004002: 26,3233           45014                           SET      CALL                                  
025197,004003: 26,3234           01474                                    VINTFLAG                              
025198,004004: 26,3235           26644                                    SETIFLGS                              
025199,004005: 26,3236           77624                           CALL                                           
025200,004006: 26,3237           55242                                    INTGRCAL                              
025201,004007: 26,3240           77650                           GOTO                                           
025202,004008: 26,3241           54510                                    RANGEBQ                               
025203,004009: 
025204,004010:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV

Page 584

025206,004012: 26,3242           71220        INTGRCAL           STQ      DLOAD                                 
025207,004013: 26,3243           03675                                    IGRET                                 
025208,004014: 26,3244           03755                                    MKTIME                                
025209,004015: 26,3245           34041                           STCALL   TDEC1                                 
025210,004016: 26,3246           27134                                    INTEGRV                               
025211,004017: 26,3247           77650                           GOTO                                           
025212,004018: 26,3250           03675                                    IGRET                                 
025213,004019: 
025214,004020:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025215,004021:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025216,004022: 
025217,004023: 26,3251  E5,1400                                  EBANK=   W                                     
025218,004024: 26,3251           77776        WLINIT             EXIT                                           
025219,004025: 26,3252           33331                           CAF      WBANK                                 
025220,004026: 26,3253           54006                           TS       BBANK                                 
025221,004027: 26,3254           33437                           CAF      WSIZE                                 
025222,004028: 26,3255           55257                           TS       W.IND                                 
025223,004029: 26,3256           34755                           CAF      ZERO                                  
025224,004030: 26,3257           51257                           INDEX    W.IND                                 
025225,004031: 26,3260           55400                           TS       W                                     
025226,004032: 26,3261           11257                           CCS      W.IND                                 
025227,004033: 26,3262           03255                           TC       -5                                    
025228,004034: 26,3263           33332                           CAF      AIGBANK                               #  RESTORE EBANK 7
025229,004035: 26,3264           54006                           TS       BBANK                                 
025230,004036: 26,3265           06037                           TC       INTPRET                               
025231,004037: 26,3266           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE, INITIALIZE WITH 
025232,004038: 26,3267           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
025233,004039: 26,3270           55274                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
025234,004040: 26,3271           02001                                    WRENDPOS                              
025235,004041: 26,3272           77650                           GOTO                                           
025236,004042: 26,3273           55276                                    WPOSTORE                              
025237,004043: 26,3274           77735        WLSRFPOS           SLOAD                                          
025238,004044: 26,3275           02007                                    WSURFPOS                              
025239,004045: 26,3276           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
025240,004046: 26,3277           20606                                    5                                     
025241,004047: 26,3300           02401                           STORE    W                                     
025242,004048: 26,3301           02411                           STORE    W          +8D                        
025243,004049: 26,3302           02421                           STORE    W          +16D                       
025244,004050: 26,3303           67214                           BON      SLOAD                                 
025245,004051: 26,3304           04307                                    SURFFLAG                              
025246,004052: 26,3305           55311                                    WLSRFVEL                              
025247,004053: 26,3306           02002                                    WRENDVEL                              
025248,004054: 26,3307           77650                           GOTO                                           
025249,004055: 26,3310           55313                                    WVELSTOR                              
025250,004056: 26,3311           77735        WLSRFVEL           SLOAD                                          
025251,004057: 26,3312           02010                                    WSURFVEL                              
025252,004058: 26,3313           02511        WVELSTOR           STORE    W          +72D                       
025253,004059: 26,3314           02521                           STORE    W          +80D                       
025254,004060: 26,3315           02531                           STORE    W          +88D                       
025255,004061: 26,3316           77735                           SLOAD                                          

Page 585

025257,004063: 26,3317           02003                                    WSHAFT                                
025258,004064: 26,3320           02621                           STORE    W          +144D                      
025259,004065: 26,3321           77735                           SLOAD                                          
025260,004066: 26,3322           02004                                    WTRUN                                 
025261,004067: 26,3323           02631                           STORE    W          +152D                      
025262,004068: 26,3324           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
025263,004069: 26,3325           02476                                    RENDWFLG                              
025264,004070: 26,3326           03463                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
025265,004071: 26,3327           00000                                    0                                     
025266,004072: 26,3330           77616                           RVQ                                            
025267,004073: 
025268,004074: 26,3331  E5,1400                                  EBANK=   W                                     
025269,004075: 26,3331           54065        WBANK              BBCON    WLINIT                                
025270,004076: 26,3332  E7,1457                                  EBANK=   AIG                                   
025271,004077: 26,3332           54067        AIGBANK            BBCON    LSR22.3                               
025272,004078: 
025273,004079:                                                                                                  #  GETULC
025274,004080: 
025275,004081:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025276,004082:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025277,004083:                                                                                                  #  MAGNITUDE IN 36D.
025278,004084: 
025279,004085: 26,3333           77201        GETULC             SETPD    VLOAD                                 
025280,004086: 26,3334           00001                                    0                                     
025281,004087: 26,3335           01645                                    DELTALEM                              
025282,004088: 26,3336           77754                           LXA,2                                          
025283,004089: 26,3337           03720                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
025284,004090: 26,3340           53257                           VSR*     VAD                                   
025285,004091: 26,3341           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025286,004092: 26,3342           01661                                    RCVLEM                                
025287,004093: 26,3343           53715                           PDVL     VSR*                                  
025288,004094: 26,3344           01573                                    DELTACSM                              
025289,004095: 26,3345           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
025290,004096: 26,3346           52255                           VAD      VSU                                   
025291,004097: 26,3347           01607                                    RCVCSM                                
025292,004098: 26,3350           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
025293,004099: 26,3351           21724                                    NORMUNX1                              
025294,004100: 26,3352           17724                           STODL    ULC                                   
025295,004101: 26,3353           00045                                    36D                                   
025296,004102: 26,3354           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
025297,004103: 26,3355           20201                                    0,1                                   
025298,004104: 26,3356           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
025299,004105: 26,3357           03724                                    ULC                                   
025300,004106: 26,3360           77616                           RVQ                                            
025301,004107: 
025302,004108:                                                                                                  #  RADARANG
025303,004109: 
025304,004110:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025305,004111:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
025306,004112:                                                                                                  #  OUTPUT
025307,004113:                                                                                                  #        ULC IN ULC, PD0

Page 586

025309,004115:                                                                                                  #        RLC IN PD36D
025310,004116:                                                                                                  #        SIN THETA IN SINTHETA AND PD6
025311,004117:                                                                                                  #        RXZ NORM IN RXZ (N IN X1)
025312,004118: 
025313,004119: 26,3361           45020        RADARANG           STQ      CALL                                  
025314,004120: 26,3362           03675                                    RDRET                                 
025315,004121: 26,3363           55333                                    GETULC                                
025316,004122: 26,3364           50276                           VCOMP    DOT                                   
025317,004123: 26,3365           03705                                    MY                                    
025318,004124: 26,3366           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
025319,004125: 26,3367           03732                           STORE    SINTHETA                              
025320,004126: 26,3370           44316                           DSQ      BDSU                                  
025321,004127: 26,3371           06512                                    DP1/4TH                               #  1-(SIN THETA)**2
025322,004128: 26,3372           41366                           SQRT     DMP                                   
025323,004129: 26,3373           00045                                    36D                                   
025324,004130: 26,3374           60352                           SL1      NORM                                  
025325,004131: 26,3375           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
025326,004132: 26,3376           03722                           STORE    RXZ                                   
025327,004133: 26,3377           77650                           GOTO                                           #  EXIT
025328,004134: 26,3400           03675                                    RDRET                                 
025329,004135: 26,3401           45020        LGCUPDTE           STQ      CALL                                  
025330,004136: 26,3402           03675                                    LGRET                                 
025331,004137: 26,3403           46531                                    INCORP1                               
025332,004138: 26,3404           51575                           VLOAD    ABVAL                                 
025333,004139: 26,3405           02673                                    DELTAX     +6                         
025334,004140: 26,3406           53754                           LXA,2    SRR*                                  
025335,004141: 26,3407           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
025336,004142: 26,3410           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
025337,004143: 26,3411           24317                           STOVL    R22DISP    +2                         
025338,004144: 26,3412           02665                                    DELTAX                                
025339,004145: 26,3413           53646                           ABVAL    SRR*                                  
025340,004146: 26,3414           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
025341,004147: 26,3415           00315                           STORE    R22DISP                               
025342,004148: 26,3416           54335                           SLOAD    SR                                    
025343,004149: 26,3417           02005                                    RMAX                                  
025344,004150: 26,3420           20613                                    10D                                   
025345,004151: 26,3421           50025                           DSU      BMN                                   
025346,004152: 26,3422           00315                                    R22DISP                               
025347,004153: 26,3423           50572                                    R22LEM96                              #  GO DISPLAY
025348,004154: 26,3424           45335                           SLOAD    DSU                                   
025349,004155: 26,3425           02006                                    VMAX                                  
025350,004156: 26,3426           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
025351,004157: 26,3427           77640                           BMN                                            
025352,004158: 26,3430           50572                                    R22LEM96                              #  GO DISPLAY
025353,004159: 26,3431           77624        ASTOK              CALL                                           
025354,004160: 26,3432           46743                                    INCORP2                               
025355,004161: 26,3433           77650                           GOTO                                           
025356,004162: 26,3434           03675                                    LGRET                                 
025357,004163: 26,3435           00103 03370  IMUVAR             2DEC     E-6        B12                        #  RAD**2
025358,004164: 
025359,004165: 26,3437           00241        WSIZE              DEC      161        B-14                       

Page 587

025361,004167: 26,3440           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
025362,004168: 
025363,004169: 26,3442  E7,1456                                  EBANK=   LOSCOUNT                              

Page 588

025365,004171: 
025366,004172:                                                                                                  #  PROGRAM NAME LRS24.1          RR SEARCH ROUTINE
025367,004173:                                                                                                  #  MOD NO 0                      BY P VOLANTE   SDC              DATE 1-15-67
025368,004174: 
025369,004175:                                                                                                  #  FUNCTIONAL DESCRIPTION
025370,004176: 
025371,004177:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025372,004178:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025373,004179:                                                                                                  #  LM +Z AXIS.  IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025374,004180:                                                                                                  #  ATTITUDE MANEUVER.
025375,004181: 
025376,004182:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
025377,004183: 
025378,004184:                                                                                                  #  SUBROUTINES CALLED
025379,004185: 
025380,004186:                                                                                                  #        LEMCONIC        R61LEM
025381,004187:                                                                                                  #        CSMCONIC        RRDESSM
025382,004188:                                                                                                  #        JOBDELAY        FLAGDOWN
025383,004189:                                                                                                  #        WAITLIST        FLAGUP
025384,004190:                                                                                                  #        RRNB            BANKCALL
025385,004191: 
025386,004192:                                                                                                  #  EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025387,004193: 
025388,004194:                                                                                                  #  OUTPUT
025389,004195: 
025390,004196:                                                                                                  #        DATAGOOD (SP) - FOR DISPLAY IN R1 -     00000 INDICATES NO LOCKON
025391,004197:                                                                                                  #                                                11111 INDICATES LOCKON ACHIEVED
025392,004198:                                                                                                  #        OMEGAD (SP)   - FOR DISPLAY IN R2 -     ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025393,004199: 
025394,004200:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025395,004201: 
025396,004202:                                                                                                  #        SEARCH FLAG MUST BE SET
025397,004203:                                                                                                  #        LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025398,004204: 
025399,004205:                                                                                                  #  DEBRIS
025400,004206: 
025401,004207:                                                                                                  #        RLMSRCH         UXVECT
025402,004208:                                                                                                  #        VXRLM           UYVECT
025403,004209:                                                                                                  #        LOSDESRD        NSRCHPNT
025404,004210:                                                                                                  #        DATAGOOD        OMEGAD
025405,004211:                                                                                                  #        MPAC            PUSHLIST
025406,004212: 
025407,004213: 26,3442                                           COUNT*   $$/LRS24                              
025408,004214: 26,3442           34755        LRS24.1            CAF      ZERO                                  
025409,004215: 26,3443           55736                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
025410,004216: 26,3444           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
025411,004217: 26,3445           00006                           EXTEND                                         

Page 589

025413,004219: 26,3446           05012                           WOR      CHAN12                                
025414,004220: 26,3447           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
025415,004221: 26,3450           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
025416,004222: 26,3451           00006                           EXTEND                                         
025417,004223: 26,3452           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
025418,004224: 
025419,004225: 26,3453           33713                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025420,004226: 26,3454           00004                           INHINT                                         
025421,004227: 26,3455           05203                           TC       WAITLIST                              #  IN 6 SECONDS
025422,004228: 26,3456  E7,1456                                  EBANK=   LOSCOUNT                              
025423,004229: 26,3456           03643 54067                     2CADR    CALLDGCH                              
025424,004230: 
025425,004231: 26,3460           00003                           RELINT                                         
025426,004232: 26,3461           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
025427,004233: 26,3462           74736                           MASK     REMODBIT                              
025428,004234: 26,3463           00006                           EXTEND                                         
025429,004235: 26,3464           15155                           BZF      ENDOFJOB                              #  YES - WAIT SIX SECONDS
025430,004236: 26,3465           06037                           TC       INTPRET                               
025431,004237: 
025432,004238: 26,3466           43234                           RTB      DAD                                   #  COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025433,004239: 26,3467           21573                                    LOADTIME                              
025434,004240: 26,3470           15715                                    1.5SECS                               
025435,004241: 26,3471           34041        LRS24.11           STCALL   TDEC1                                 
025436,004242: 26,3472           27100                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
025437,004243: 26,3473           77775                           VLOAD                                          
025438,004244: 26,3474           00001                                    RATT                                  
025439,004245: 26,3475           27676                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
025440,004246: 26,3476           00007                                    VATT                                  
025441,004247: 26,3477           17740                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
025442,004248: 26,3500           00015                                    TAT                                   
025443,004249: 26,3501           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
025444,004250: 26,3502           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
025445,004251: 26,3503           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM) - R(LM)
025446,004252: 26,3504           00001                                    RATT                                  
025447,004253: 26,3505           03676                                    RLMSRCH                               
025448,004254: 26,3506           77656                           UNIT                                           
025449,004255: 26,3507           27712                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
025450,004256: 26,3510           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
025451,004257: 26,3511           47256                           UNIT     VXV                                   
025452,004258: 26,3512           00001                                    RATT                                  
025453,004259: 26,3513           77656                           UNIT                                           
025454,004260: 26,3514           03704                           STORE    VXRCM                                 
025455,004261: 26,3515           52375                           VLOAD    VSU                                   
025456,004262: 26,3516           00007                                    VATT                                  
025457,004263: 26,3517           03740                                    SAVLEMV                               
025458,004264: 26,3520           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
025459,004265: 26,3521           01734                                    REFSMMAT                              
025460,004266: 26,3522           03740                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
025461,004267: 26,3523           53135                           SLOAD    BZE                                   #  CHECK IF N=0

Page 590

025463,004269: 26,3524           03737                                    NSRCHPNT                              
025464,004270: 26,3525           55636                                    DESGLOS                               #  YES - DESIGNATE ALONG LOS
025465,004271: 26,3526           53025                           DSU      BZE                                   #  IS N=1
025466,004272: 26,3527           15711                                    ONEOCT                                #  YES - CALCULATE X AND Y AXES OF
025467,004273: 26,3530           55623                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
025468,004274: 26,3531           77775                           VLOAD                                          #  NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025469,004275: 26,3532           03720                                    UXVECT                                
025470,004276: 26,3533           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
025471,004277: 26,3534           03726                                    UYVECT                                #  UXPRIME = ORIGINAL UX
025472,004278: 26,3535           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
025473,004279: 26,3536           77761                           VXSC                                           
025474,004280: 26,3537           15705                                    SIN60DEG                              #  UX = (COS 60)UXPR + (SIN 60)UYPR
025475,004281: 26,3540           27720                           STOVL    UXVECT                                
025476,004282: 26,3541           00015                                    UXVECTPR                              
025477,004283: 26,3542           53361                           VXSC     VAD                                   
025478,004284: 26,3543           06520                                    COS60DEG                              
025479,004285: 26,3544           03720                                    UXVECT                                
025480,004286: 26,3545           77656                           UNIT                                           
025481,004287: 26,3546           27720                           STOVL    UXVECT                                
025482,004288: 26,3547           00015                                    UXVECTPR                              #  UY = (-SIN 60)UXPR + (COS 60)UYPR
025483,004289: 26,3550           77761                           VXSC                                           
025484,004290: 26,3551           15705                                    SIN60DEG                              
025485,004291: 26,3552           27726                           STOVL    UYVECT                                
025486,004292: 26,3553           00023                                    UYVECTPR                              
025487,004293: 26,3554           52361                           VXSC     VSU                                   
025488,004294: 26,3555           06520                                    COS60DEG                              
025489,004295: 26,3556           03726                                    UYVECT                                
025490,004296: 26,3557           77656                           UNIT                                           
025491,004297: 26,3560           03726                           STORE    UYVECT                                
025492,004298: 26,3561           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
025493,004299: 26,3562           15707                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
025494,004300: 26,3563           03712                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
025495,004301: 26,3564           64256                           UNIT     MXV                                   
025496,004302: 26,3565           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
025497,004303: 26,3566           77772                           VSL1                                           
025498,004304: 26,3567           25102        CONTDESG           STOVL    RRTARGET                              
025499,004305: 26,3570           03740                                    SAVLEMV                               
025500,004306: 26,3571           01761                           STORE    LOSVEL                                
025501,004307: 26,3572           77776                           EXIT                                           
025502,004308: 26,3573           00004                           INHINT                                         
025503,004309: 26,3574           06027                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
025504,004310: 26,3575           52602                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
025505,004311:                                                                                                  #  POINT IN THE PATTERN
025506,004312: 26,3576           44735        CONTDES2           CS       CDESBIT                               
025507,004313: 26,3577           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
025508,004314: 26,3600           64735                           AD       CDESBIT                               #  A CONTINUOUS DESIGNATE WANTED.
025509,004315: 26,3601           54110                           TS       RADMODES                              
025510,004316: 26,3602           06037                           TC       INTPRET                               
025511,004317: 
025512,004318: 26,3603           77624                           CALL                                           

Page 591

025514,004320: 26,3604           52373                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
025515,004321: 
025516,004322: 26,3605           77776                           EXIT                                           
025517,004323: 26,3606           03675                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
025518,004324: 26,3607           03675                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
025519,004325: 
025520,004326:                                                                                                  #  COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025521,004327:                                                                                                  #  SPACECRAFT +Z AXIS
025522,004328: 26,3610           00006        OMEGCALC           EXTEND                                         
025523,004329: 26,3611           30036                           DCA      CDUT                                  
025524,004330: 26,3612           53753                           DXCH     TANGNB                                
025525,004331: 26,3613           06037                           TC       INTPRET                               
025526,004332: 26,3614           77624                           CALL                                           
025527,004333: 26,3615           46041                                    RRNB                                  
025528,004334: 26,3616           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025529,004335: 26,3617           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025530,004336: 26,3620           03735                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
025531,004337: 26,3621           77776                           EXIT                                           
025532,004338: 26,3622           05155                           TC       ENDOFJOB                              

Page 592

025534,004340:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025535,004341: 
025536,004342: 26,3623           47375        CALCXY             VLOAD    VXV                                   
025537,004343: 26,3624           03704                                    VXRCM                                 
025538,004344: 26,3625           03712                                    LOSDESRD                              
025539,004345: 26,3626           77656                           UNIT                                           
025540,004346: 26,3627           27720                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
025541,004347: 26,3630           03712                                    LOSDESRD                              
025542,004348: 26,3631           53435                           VXV      UNIT                                  
025543,004349: 26,3632           03720                                    UXVECT                                
025544,004350: 26,3633           03726                           STORE    UYVECT                                #  UY = LOS X UX
025545,004351: 26,3634           77650                           GOTO                                           
025546,004352: 26,3635           55561                                    OFFCALC                               
025547,004353: 
025548,004354: 26,3636           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
025549,004355: 26,3637           03712                                    LOSDESRD                              
025550,004356: 26,3640           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
025551,004357: 26,3641           52172                           VSL1     GOTO                                  
025552,004358: 26,3642           55567                                    CONTDESG                              
025553,004359: 
025554,004360: 26,3643           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
025555,004361: 26,3644           74745                           MASK     RNDVZBIT                              
025556,004362: 26,3645           00006                           EXTEND                                         
025557,004363: 26,3646           15261                           BZF      TASKOVER                              #  NO - EXIT R24
025558,004364: 26,3647           37713                           CAF      PRIO25                                #  YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025559,004365: 26,3650           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
025560,004366: 26,3651  E7,1675                                  EBANK=   RLMSRCH                               
025561,004367: 26,3651           03654 54067                     2CADR    DATGDCHK                              
025562,004368: 
025563,004369: 26,3653           05261                           TC       TASKOVER                              
025564,004370: 
025565,004371: 26,3654           34750        DATGDCHK           CAF      BIT4                                  
025566,004372: 26,3655           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
025567,004373: 26,3656           02033                           RAND     CHAN33                                
025568,004374: 26,3657           00006                           EXTEND                                         
025569,004375: 26,3660           13667                           BZF      STORE1S                               #  YES - GO TO STORE 11111 FOR DISPLAY IN R1
025570,004376: 26,3661           46242                           CS       SIX                                   
025571,004377: 26,3662           61736                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
025572,004378: 26,3663           00006                           EXTEND                                         
025573,004379: 26,3664           13442                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
025574,004380: 26,3665           25736                           INCR     NSRCHPNT                              #  NO-SET N = N+1 AN GO TO
025575,004381: 26,3666           13444                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
025576,004382: 
025577,004383: 26,3667           33703        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
025578,004384: 26,3670           55733                           TS       DATAGOOD                              

Page 593

025580,004386: 26,3671           00004                           INHINT                                         
025581,004387: 26,3672           06027                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
025582,004388: 26,3673           52602                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
025583,004389: 26,3674           05155                           TC       ENDOFJOB                              
025584,004390: 
025585,004391: 26,3675           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527 - LOS NOT IN MODE2
025586,004392: 26,3676           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
025587,004393: 26,3677           00004                           INHINT                                         #  REQUIRED IN P20
025588,004394: 26,3700           06027                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
025589,004395: 26,3701           55643                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
025590,004396: 26,3702           05155                           TC       ENDOFJOB                              
025591,004397: 
025592,004398: 26,3703           25547        ALL1S              DEC      11111      B-14                       
025593,004399: 26,3704           33555 01106  SIN60DEG           2DEC     .86603                                
025594,004400: 26,3706  23,2517               COS60DEG           =        DPHALF                                #  (2DEC .50)
025595,004401: 26,3706                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
025596,004402: 26,3706                        UYVECTPR           EQUALS   18D                                   
025597,004403: 26,3706                        RLMUNIT            EQUALS   12D                                   
025598,004404: 26,3706           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
025599,004405: 
025600,004406: 26,3710           00001        ONEOCT             OCT      00001                                 #  **** NOTE - THESE TWO CONSTANTS MUST ****
025601,004407: 26,3711           00000 00454  3SECONDS           2DEC     300        B-28                       #  **** BE IN THIS ORDER BECAUSE         ****
025602,004408: 
025603,004409:                                                                                                  #  **** ONEOCT NEEDS A LOWER ORDER       ****
025604,004410:                                                                                                  #  **** WORD OF ZEROES                   ****
025605,004411: 26,3713           01130        6SECONDS           DEC      600        B-14                       
025606,004412: 26,3714           00000 00226  1.5SECS            2DEC     150        B-28                       
025607,004413: 
025608,004414: 26,3716  23,2521               ZERO/SP            EQUALS   HI6ZEROS                              
025609,004415: 
025610,004416:    4616                                           BLOCK    02                                    
025611,004417:    6000                                           SETLOC   FFTAG5                                
025612,004418:    6000                                           BANK                                           
025613,004419:    6022                                           COUNT*   $$/P20                                
025614,004420:    6022           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
025615,004421:    6023           36026                           DCA      VB56CADR                              #  GOTOPOOH
025616,004422:    6024           15165                           TCF      SUPDXCHZ                              
025617,004423:    6025  E7,1471                                  EBANK=   WHOCARES                              
025618,004424:    6025           03024 66107  VB56CADR           2CADR    TRMTRACK                              
025619,004425: 

Page 594

025621,004427:                                                                                                  #  PROGRAM NAME: R29     (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025622,004428:                                                                                                  #  MOD NO. 2     BY H. BLAIR-SMITH       JULY 2, 1968.
025623,004429: 
025624,004430:                                                                                                  #  FUNCTIONAL DESCRIPTION:
025625,004431: 
025626,004432:                                                                                                  #        DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025627,004433:                                                                                                  #        AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
025628,004434:                                                                                                  #        THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
025629,004435:                                                                                                  #        THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025630,004436:                                                                                                  #        DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025631,004437:                                                                                                  #        INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
025632,004438: 
025633,004439:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025634,004440: 
025635,004441:                                                                                                  #  SUBROUTINES CALLED:
025636,004442: 
025637,004443:                                                                                                  #        REMODE          RRTONLY
025638,004444:                                                                                                  #        UNIT            MPACVBUF
025639,004445:                                                                                                  #        QUICTRIG        AX*SR*T
025640,004446:                                                                                                  #        SPSIN           SPCOS
025641,004447:                                                                                                  #        SETRRECR        RROUT
025642,004448:                                                                                                  #        RRRDOT          RRRANGE
025643,004449: 
025644,004450:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
025645,004451: 
025646,004452:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
025647,004453: 
025648,004454:                                                                                                  #        RM              RDOTM           (RAW)
025649,004455:                                                                                                  #        AIG             AMG             
025650,004456:                                                                                                  #        AOG             TRKMKCNT        TRKMKCNT = 00001 IF SET IS CONSISTENT,
025651,004457:                                                                                                  #        TANGNB          TANGNB +1       OTHERWISE TRKMKCNT = 00000.
025652,004458:                                                                                                  #        MKTIME

Page 595

025654,004460: 
025655,004461:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
025656,004462: 
025657,004463:                                                                                                  #        NOR29FLG        READRFLG                (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025658,004464:                                                                                                  #        PIPTIME         RADMODES (BIT 10)       (BIT SET TO 0 BY FRESH START)
025659,004465:                                                                                                  #        R(CSM)          V(CSM)
025660,004466:                                                                                                  #        R               V                       (PIPTIME THRU V BY AVE G IN SERVICER)
025661,004467: 
025662,004468:                                                                                                  #  DEBRIS:
025663,004469: 
025664,004470:                                                                                                  #        RADMODES (BIT 10)
025665,004471:                                                                                                  #        LOSSM           LOSVDT/4                (= RRTARGET & LOSVEL)
025666,004472:                                                                                                  #        SAVECDUT        OLDESFLG                (SAVECDUT = MLOSV)
025667,004473:                                                                                                  #        LOSCMFLG        READRFLG
025668,004474: 
025669,004475:                                                                                                  #  ALARMS:  NONE.
025670,004476: 
025671,004477:                                                                                                  #  COMPONENT JOBS AND TASKS:
025672,004478: 
025673,004479:                                                                                                  #        INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
025674,004480:                                                                                                  #        DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
025675,004481:                                                                                                  #        RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
025676,004482: 
025677,004483: 33,2045                                           BANK     33                                    
025678,004484: 33,2000                                           SETLOC   R29/SERV                              
025679,004485: 33,2000                                           BANK                                           
025680,004486: 
025681,004487: 33,2045                                           COUNT*   $$/r29                                
025682,004488: 
025683,004489: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
025684,004490: 

Page 596

025686,004492:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025687,004493:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025688,004494: 
025689,004495: 33,2045           40110        R29                CS       RADMODES                              
025690,004496: 33,2046           74742                           MASK     DESIGBIT                              
025691,004497: 33,2047           00006                           EXTEND                                         
025692,004498: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
025693,004499: 
025694,004500: 33,2051           00004                           INHINT                                         
025695,004501: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
025696,004502: 33,2053           44736                           CS       BIT14                                 
025697,004503: 33,2054           00006                           EXTEND                                         
025698,004504: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
025699,004505: 33,2056           44740                           CS       LOSCMBIT                              
025700,004506: 33,2057           70076                           MASK     FLAGWRD2                              
025701,004507: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025702,004508: 33,2061           44753                           CS       OLDESBIT                              
025703,004509: 33,2062           70074                           MASK     STATE                                 
025704,004510: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
025705,004511: 33,2064           04616                           TC       BANKCALL                              
025706,004512: 33,2065           52156                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
025707,004513: 33,2066           34740                           CA       ANTENBIT                              
025708,004514: 33,2067           70110                           MASK     RADMODES                              
025709,004515: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
025710,004516: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
025711,004517: 
025712,004518: 33,2072           35031                           CA       PRIO21                                #  MODE 1;  MUST REMODE.
025713,004519: 33,2073           05072                           TC       NOVAC                                 
025714,004520: 33,2074  E7,1456                                  EBANK=   LOSCOUNT                              
025715,004521: 33,2074           02113 66067                     2CADR    R29REM0J                              #  NEEDS OWN JOB TO RADSTALL IN.
025716,004522: 
025717,004523: 33,2076           44742                           CS       DESIGBIT                              
025718,004524: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
025719,004525: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
025720,004526: 33,2101           34736                           CA       REMODBIT                              
025721,004527: 33,2102           26110                           ADS      RADMODES                              #  SHOW THAT REMODING IS ON.
025722,004528: 33,2103           12570                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
025723,004529: 
025724,004530: 33,2104           34753        SETPRPOS           CA       ONE                                   
025725,004531: 33,2105           05203                           TC       WAITLIST                              
025726,004532: 33,2106  E7,1456                                  EBANK=   LOSCOUNT                              
025727,004533: 33,2106           03601 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
025728,004534: 
025729,004535: 33,2110           34741                           CA       REPOSBIT                              
025730,004536: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
025731,004537: 33,2112           12570                           TCF      NOR29NOW                              
025732,004538: 

Page 597

025734,004540:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
025735,004541: 
025736,004542: 33,2113           34753        R29REM0J           CA       ONE                                   
025737,004543: 33,2114           05203                           TC       WAITLIST                              
025738,004544: 33,2115  E7,1456                                  EBANK=   LOSCOUNT                              
025739,004545: 33,2115           02171 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
025740,004546: 
025741,004547: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
025742,004548: 33,2120           17714                           CADR     RADSTALL                              
025743,004549: 
025744,004550: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
025745,004551: 33,2122           15155                           TCF      ENDOFJOB                              
025746,004552: 
025747,004553:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025748,004554: 
025749,004555: 25,2000                                           SETLOC   R29S1                                 
025750,004556: 25,2000                                           BANK                                           
025751,004557: 
025752,004558: 25,3601           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
025753,004559: 25,3602           02241                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
025754,004560: 25,3603           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
025755,004561: 25,3604           70110                           MASK     RADMODES                              
025756,004562: 25,3605           54110                           TS       RADMODES                              
025757,004563: 25,3606           15261                           TCF      TASKOVER                              
025758,004564: 
025759,004565:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025760,004566: 
025761,004567: 33,2045                                           SETLOC   R29                                   
025762,004568: 33,2045                                           BANK                                           
025763,004569: 
025764,004570: 33,2123           00006        R29.LOS            EXTEND                                         
025765,004571: 33,2124           41235                           DCS      PIPTIME                               
025766,004572: 33,2125           52155                           DXCH     MPAC                                  
025767,004573: 33,2126           00006                           EXTEND                                         
025768,004574: 33,2127           30025                           DCA      TIME2                                 
025769,004575: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
025770,004576: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
025771,004577: 33,2132           30155                           CA       MPAC       +1                         
025772,004578: 33,2133           00006                           EXTEND                                         
025773,004579: 33,2134           74740                           MP       BIT12                                 
025774,004580: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
025775,004581: 33,2136           06037                           TC       INTPRET                               

Page 598

025777,004583:                                                                                                  #  LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025778,004584:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
025779,004585: 
025780,004586: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
025781,004587: 33,2140           01726                                    V(CSM)                                
025782,004588: 33,2141           03527                                    V                                     #  LOSVEL = V(CSM) - V.
025783,004589: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025784,004590: 33,2143           52255                           VAD      VSU                                   #        AND ADD THE RESULT TO R(CSM) - R TO GET
025785,004591: 33,2144           01720                                    R(CSM)                                #        AN UP-TO-DATE LOS VECTOR IN SM AXES.
025786,004592: 33,2145           03521                                    R                                     
025787,004593: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
025788,004594: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025789,004595: 33,2150           66152                                    SETUP29D                              #  FLG TO ON AND GO TO SET UP NEW DATA.
025790,004596: 33,2151           12570                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
025791,004597: 
025792,004598: 33,2152           25102        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025793,004599: 33,2153           00001                                    0                                     
025794,004600: 33,2154           77761                           VXSC                                           
025795,004601: 33,2155           26177                                    .5SECB17                              
025796,004602: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
025797,004603: 33,2157           77414                           CLEAR    EXIT                                  
025798,004604: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
025799,004605: 
025800,004606: 33,2161           40074                           CS       STATE                                 
025801,004607: 33,2162           74753                           MASK     OLDESBIT                              
025802,004608: 33,2163           00006                           EXTEND                                         
025803,004609: 33,2164           12570                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
025804,004610: 33,2165           00004                           INHINT                                         
025805,004611: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
025806,004612: 
025807,004613: 33,2167           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025808,004614: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
025809,004615: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
025810,004616: 33,2172           05203                           TC       WAITLIST                              
025811,004617: 33,2173  E7,1456                                  EBANK=   LOSCOUNT                              
025812,004618: 33,2173           03356 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
025813,004619: 
025814,004620: 33,2175           12570                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
025815,004621: 
025816,004622: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
025817,004623: 

Page 599

025819,004625:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025820,004626:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025821,004627: 
025822,004628: 24,3356                                           BANK     24                                    
025823,004629: 24,2000                                           SETLOC   P20S                                  
025824,004630: 24,2000                                           BANK                                           
025825,004631: 
025826,004632: 24,3356                                           COUNT*   $$/R29                                
025827,004633: 
025828,004634: 24,3356           35031        BEGDES29           CAF      PRIO21                                
025829,004635: 24,3357           05072                           TC       NOVAC                                 
025830,004636: 24,3360  E3,1760                                  EBANK=   LOSVDT/4                              
025831,004637: 24,3360           02547 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
025832,004638: 
025833,004639: 24,3362           34774        R29DLOOP           CAF      .5SEC                                 
025834,004640: 24,3363           05224                           TC       VARDELAY                              
025835,004641: 
025836,004642: 24,3364           40110                           CS       RADMODES                              
025837,004643: 24,3365           74742                           MASK     DESIGBIT                              
025838,004644: 24,3366           10000                           CCS      A                                     
025839,004645: 24,3367           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
025840,004646: 
025841,004647: 24,3370           40076                           CS       FLAGWRD2                              
025842,004648: 24,3371           74740                           MASK     LOSCMBIT                              
025843,004649: 24,3372           00006                           EXTEND                                         
025844,004650: 24,3373           13376                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025845,004651: 24,3374           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
025846,004652: 24,3375           13356                           TCF      BEGDES29                              
025847,004653: 
025848,004654: 24,3376           34753                           CA       ONE                                   
025849,004655: 24,3377           13363                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.

Page 600

025851,004657:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
025852,004658: 
025853,004659:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
025854,004660:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025855,004661:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025856,004662:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025857,004663:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025858,004664: 
025859,004665:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025860,004666:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
025861,004667: 
025862,004668: 32,2547                                           BANK     32                                    
025863,004669: 32,2000                                           SETLOC   F2DPS*32                              
025864,004670: 32,2000                                           BANK                                           
025865,004671: 
025866,004672: 32,2547                                           COUNT*   $$/R29                                
025867,004673: 32,2547  E3,1760                                  EBANK=   LOSVDT/4                              
025868,004674: 
025869,004675: 32,2547           34753        R29DODES           CA       ONE                                   
025870,004676: 32,2550           55107                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
025871,004677: 32,2551           34756                           CA       FIVE                                  
025872,004678: 
025873,004679: 32,2552           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
025874,004680: 32,2553           54002                           TS       Q                                     
025875,004681: 32,2554           11107                           CCS      TANG                                  
025876,004682: 32,2555           12563                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
025877,004683: 
025878,004684: 32,2556           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
025879,004685: 32,2557           50002                           INDEX    Q                                     
025880,004686: 32,2560           31761                           DCA      LOSVDT/4                              
025881,004687: 32,2561           50002                           INDEX    Q                                     
025882,004688: 32,2562           21102                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
025883,004689: 
025884,004690: 32,2563           00006        R29DPAS1           EXTEND                                         
025885,004691: 32,2564           50002                           INDEX    Q                                     
025886,004692: 32,2565           31102                           DCA      LOSSM                                 
025887,004693: 32,2566           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025888,004694: 32,2567           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
025889,004695: 32,2570           11107                           CCS      TANG                                  
025890,004696: 32,2571           12577                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
025891,004697: 
025892,004698: 32,2572           00006                           EXTEND                                         
025893,004699: 32,2573           50002                           INDEX    Q                                     
025894,004700: 32,2574           31761                           DCA      LOSVDT/4                              
025895,004701: 32,2575           50002                           INDEX    Q                                     
025896,004702: 32,2576           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025897,004703: 
025898,004704: 32,2577           10002        R29DVEND           CCS      Q                                     
025899,004705: 32,2600           12552                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
025900,004706: 

Page 601

025902,004708:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025903,004709: 
025904,004710: 32,2601           52156                           DXCH     MPAC       +1                         
025905,004711: 32,2602           52155                           DXCH     MPAC                                  
025906,004712: 32,2603           32774                           CA       R29FXLOC                              #  = ADRES INTB15 + -34D
025907,004713: 32,2604           54120                           TS       FIXLOC                                
025908,004714: 32,2605           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025909,004715: 32,2606           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
025910,004716: 32,2607           07532                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025911,004717: 
025912,004718: 32,2610           11107                           CCS      TANG                                  
025913,004719: 32,2611           12613                           TCF      +2                                    
025914,004720: 32,2612           12627                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
025915,004721: 32,2613           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
025916,004722: 32,2614           00006                           EXTEND                                         
025917,004723: 32,2615           30036                           DCA      CDUT                                  
025918,004724: 32,2616           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
025919,004725: 32,2617           30033                           CA       CDUY                                  
025920,004726: 32,2620           54766                           TS       CDUSPOT                               
025921,004727: 32,2621           30034                           CA       CDUZ                                  
025922,004728: 32,2622           54770                           TS       CDUSPOT    +2                         
025923,004729: 32,2623           30032                           CA       CDUX                                  
025924,004730: 32,2624           54772                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025925,004731: 32,2625           04616                           TC       BANKCALL                              
025926,004732: 32,2626           47615                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
025927,004733: 
025928,004734: 32,2627           46245        GOTANGLS           CS       THREE                                 
025929,004735: 32,2630           04616                           TC       BANKCALL                              
025930,004736: 32,2631           47675                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025931,004737: 
025932,004738: 32,2632           11107                           CCS      TANG                                  
025933,004739: 32,2633           12635                           TCF      +2                                    
025934,004740: 32,2634           12702                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
025935,004741: 

Page 602

025937,004743:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025938,004744:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025939,004745: 
025940,004746: 32,2635           00004                           INHINT                                         
025941,004747: 32,2636           55107                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
025942,004748: 32,2637           31766                           CA       SAVECDUT                              
025943,004749: 32,2640           05032                           TC       SPCOS                                 
025944,004750: 32,2641           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
025945,004751: 32,2642           41766                           CS       SAVECDUT                              
025946,004752: 32,2643           05033                           TC       SPSIN                                 
025947,004753: 32,2644           54163                           TS       MODE                                  #  MODE = -SIN T.
025948,004754: 32,2645           00006                           EXTEND                                         
025949,004755: 32,2646           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
025950,004756: 32,2647           52155                           DXCH     MPAC                                  
025951,004757: 32,2650           31767                           CA       SAVECDUT   +1                         
025952,004758: 32,2651           05033                           TC       SPSIN                                 
025953,004759: 32,2652           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
025954,004760: 32,2653           00006                           EXTEND                                         
025955,004761: 32,2654           70166                           MP       PUSHLOC                               
025956,004762: 32,2655           00006                           EXTEND                                         
025957,004763: 32,2656           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
025958,004764: 32,2657           20155                           DAS      MPAC                                  
025959,004765: 32,2660           31767                           CA       SAVECDUT   +1                         
025960,004766: 32,2661           05032                           TC       SPCOS                                 
025961,004767: 32,2662           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S.
025962,004768: 32,2663           00006                           EXTEND                                         
025963,004769: 32,2664           70166                           MP       PUSHLOC                               
025964,004770: 32,2665           00006                           EXTEND                                         
025965,004771: 32,2666           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
025966,004772: 32,2667           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
025967,004773: 32,2670           00006                           EXTEND                                         #  -SIN T, COS S COS T).
025968,004774: 32,2671           30155                           DCA      MPAC                                  
025969,004775: 32,2672           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025970,004776: 32,2673           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
025971,004777: 32,2674           34736                           CA       BIT14                                 
025972,004778: 32,2675           12676                           NOOP                                           
025973,004779: 32,2676           00006                           EXTEND                                         
025974,004780: 32,2677           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025975,004781: 32,2700           00003                           RELINT                                         
025976,004782: 32,2701           12551                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
025977,004783: 

Page 603

025979,004785:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025980,004786: 
025981,004787: 32,2702           31767        R29DPAS2           CA       SAVECDUT   +1                         
025982,004788: 32,2703           00006                           EXTEND                                         
025983,004789: 32,2704           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
025984,004790: 32,2705           53110                           DXCH     TANG                                  
025985,004791: 32,2706           41766                           CS       SAVECDUT                              
025986,004792: 32,2707           00006                           EXTEND                                         
025987,004793: 32,2710           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
025988,004794: 32,2711           21110                           DAS      TANG                                  #  RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025989,004795: 32,2712           40163                           CS       MODE                                  #  - SIN S)
025990,004796: 32,2713           00006                           EXTEND                                         
025991,004797: 32,2714           71766                           MP       SAVECDUT                              
025992,004798: 32,2715           00006                           EXTEND                                         
025993,004799: 32,2716           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
025994,004800: 32,2717           52155                           DXCH     MPAC                                  
025995,004801: 32,2720           30166                           CA       PUSHLOC                               
025996,004802: 32,2721           00006                           EXTEND                                         
025997,004803: 32,2722           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
025998,004804: 32,2723           20155                           DAS      MPAC                                  
025999,004805: 32,2724           40163                           CS       MODE                                  
026000,004806: 32,2725           00006                           EXTEND                                         
026001,004807: 32,2726           71767                           MP       SAVECDUT   +1                         
026002,004808: 32,2727           00006                           EXTEND                                         
026003,004809: 32,2730           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
026004,004810: 32,2731           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
026005,004811: 32,2732           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
026006,004812: 32,2733           00006                           EXTEND                                         
026007,004813: 32,2734           72775                           MP       RR29GAIN                              
026008,004814: 32,2735           57107                           XCH      TANG                                  #  STORE REFINED T CMD, GET RAW S CMD.
026009,004815: 32,2736           00006                           EXTEND                                         
026010,004816: 32,2737           72775                           MP       RR29GAIN                              
026011,004817: 32,2740           55110                           TS       TANG       +1                         #  STORE REFINED S CMD.
026012,004818: 

Page 604

026014,004820:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
026015,004821:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
026016,004822: 
026017,004823: 32,2741           34750        DGOOD?             CAF      BIT4                                  
026018,004824: 32,2742           00006                           EXTEND                                         
026019,004825: 32,2743           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
026020,004826: 32,2744           00004                           INHINT                                         #  (MAINLY FOR RROUT).
026021,004827: 32,2745           00006                           EXTEND                                         
026022,004828: 32,2746           12752                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
026023,004829: 
026024,004830: 32,2747           04616                           TC       BANKCALL                              
026025,004831: 32,2750           52306                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026026,004832: 32,2751           12770                           TCF      END29DOD                              
026027,004833: 
026028,004834: 32,2752           44742        R29LOKON           CS       DESIGBIT                              
026029,004835: 32,2753           70110                           MASK     RADMODES                              
026030,004836: 32,2754           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
026031,004837: 32,2755           44752                           CS       BIT2                                  
026032,004838: 32,2756           00006                           EXTEND                                         
026033,004839: 32,2757           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
026034,004840: 32,2760           34743                           CA       READRBIT                              
026035,004841: 32,2761           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
026036,004842: 32,2762           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
026037,004843: 32,2763           44776                           CS       SUPER110                              #  -96D + 100D = 4.
026038,004844: 32,2764           64777                           AD       1SEC                                  #  0 + 100D = 100D.
026039,004845: 32,2765           05203                           TC       WAITLIST                              
026040,004846: 32,2766  E7,1456                                  EBANK=   LOSCOUNT                              
026041,004847: 32,2766           03400 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
026042,004848: 
026043,004849: 32,2770           44740        END29DOD           CS       LOSCMBIT                              
026044,004850: 32,2771           70076                           MASK     FLAGWRD2                              
026045,004851: 32,2772           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
026046,004852: 32,2773           15155                           TCF      ENDOFJOB                              
026047,004853: 
026048,004854: 32,2774           00052        R29FXLOC           ADRES    INTB15+    -34D                       
026049,004855: 32,2775           56655        RR29GAIN           DEC      -.53624                               
026050,004856: 32,2776  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
026051,004857: 32,2776     1101               LOSSM              EQUALS   RRTARGET                              
026052,004858: 32,2776  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
026053,004859: 

Page 605

026055,004861:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026056,004862: 
026057,004863: 24,3400                                           BANK     24                                    
026058,004864: 24,2000                                           SETLOC   P20S                                  
026059,004865: 24,2000                                           BANK                                           
026060,004866: 
026061,004867: 24,3400                                           COUNT*   $$/R29                                
026062,004868: 
026063,004869: 24,3400  E7,1456                                  EBANK=   LOSCOUNT                              
026064,004870: 
026065,004871: 24,3400           37714        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
026066,004872: 24,3401           05072                           TC       NOVAC                                 
026067,004873: 24,3402  E7,1456                                  EBANK=   LOSCOUNT                              
026068,004874: 24,3402           03413 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
026069,004875: 
026070,004876: 24,3404           35000                           CA       2SECS                                 
026071,004877: 24,3405           05224                           TC       VARDELAY                              
026072,004878: 
026073,004879: 24,3406           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
026074,004880: 24,3407           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
026075,004881: 24,3410           10000                           CCS      A                                     
026076,004882: 24,3411           13400                           TCF      R29READ                               #  IT'S OK;  CALL IT AGAIN.
026077,004883: 24,3412           15261                           TCF      TASKOVER                              #  IT AIN'T;  WAIT FOR REDESIGNATE.
026078,004884: 
026079,004885: 24,3413           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
026080,004886: 24,3414           74741                           MASK     NR29FBIT                              
026081,004887: 24,3415           10000                           CCS      A                                     #  TEST "NOR29FLG".
026082,004888: 24,3416           13475                           TCF      ENDRRD29                              #  R29 IS NOW OVER, STOP AT ONCE.
026083,004889: 
026084,004890: 24,3417           30110                           CA       RADMODES                              
026085,004891: 24,3420           74752                           MASK     AUTOMBIT                              
026086,004892: 24,3421           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
026087,004893: 24,3422           13475                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
026088,004894: 
026089,004895: 24,3423           04616                           TC       BANKCALL                              
026090,004896: 24,3424           53103                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
026091,004897: 24,3425           04616                           TC       BANKCALL                              
026092,004898: 24,3426           17714                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026093,004899: 24,3427           13475                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
026094,004900: 

Page 606

026096,004902:                                                                                                  #  R29 RADAR READING CONTINUED.
026097,004903: 
026098,004904: 24,3430           53106                           DXCH     TIMEHOLD                              
026099,004905: 24,3431           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
026100,004906: 24,3432           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
026101,004907: 24,3433           00006                           EXTEND                                         
026102,004908: 24,3434           30036                           DCA      CDUT                                  
026103,004909: 24,3435           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026104,004910: 24,3436           00006                           EXTEND                                         
026105,004911: 24,3437           30034                           DCA      CDUY                                  
026106,004912: 24,3440           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026107,004913: 24,3441           30032                           CA       CDUX                                  
026108,004914: 24,3442           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026109,004915: 
026110,004916: 24,3443           04616        R29RANGE           TC       BANKCALL                              
026111,004917: 24,3444           53105                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
026112,004918: 24,3445           04616                           TC       BANKCALL                              
026113,004919: 24,3446           17714                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
026114,004920: 24,3447           13466                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
026115,004921: 
026116,004922: 24,3450           00004                           INHINT                                         
026117,004923: 24,3451           53334                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026118,004924: 24,3452           53757                           DXCH     RM                                    
026119,004925: 24,3453           52155                           DXCH     MPAC                                  
026120,004926: 24,3454           53755                           DXCH     MKTIME                                
026121,004927: 24,3455           52157                           DXCH     MPAC       +2                         
026122,004928: 24,3456           53753                           DXCH     TANGNB                                
026123,004929: 24,3457           52161                           DXCH     MPAC       +4                         
026124,004930: 24,3460           53460                           DXCH     AIG                                   
026125,004931: 24,3461           30162                           CA       MPAC       +6                         
026126,004932: 24,3462           55461                           TS       AOG                                   
026127,004933: 24,3463           34753                           CA       ONE                                   
026128,004934: 24,3464           55462                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
026129,004935: 24,3465           15155                           TCF      ENDOFJOB                              
026130,004936: 
026131,004937: 24,3466           40101        R29RRR?            CS       FLAGWRD5                              
026132,004938: 24,3467           74742                           MASK     BIT10                                 
026133,004939: 24,3470           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
026134,004940: 24,3471           13475                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
026135,004941: 24,3472           05516                           TC       DOWNFLAG                              
026136,004942: 24,3473           00120                           ADRES    RNGSCFLG                              
026137,004943: 24,3474           13443                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
026138,004944: 
026139,004945: 24,3475           34755        ENDRRD29           CA       ZERO                                  #  TROUBLE MADE US COME HERE TO LEAVE THE
026140,004946: 24,3476           55462                           TS       TRKMKCNT                              #  RR-READING MODE.  DISCREDIT DOWNTEL.
026141,004947: 24,3477           05516                           TC       DOWNFLAG                              
026142,004948: 24,3500           00063                           ADRES    READRFLG                              
026143,004949: 24,3501           44736                           CS       BIT14                                 
026144,004950: 24,3502           00006                           EXTEND                                         

Page 607

026146,004952: 24,3503           03012                           WAND     CHAN12                                #  REMOVE TRACK-ENABLE DISCRETE.
026147,004953: 24,3504           15155                           TCF      ENDOFJOB                              
026148,004954: 

Page 608

026150,004956:                                                                                                  #  W-MATRIX MONITOR
026151,004957: 
026152,004958: 31,2007                                           BANK     31                                    
026153,004959: 31,2000                                           SETLOC   VB67                                  
026154,004960: 31,2000                                           BANK                                           
026155,004961: 31,2007                                           COUNT*   $$/EXTVB                              
026156,004962: 
026157,004963: 31,2007  E4,1600                                  EBANK=   WWPOS                                 
026158,004964: 
026159,004965: 31,2007           06037        V67CALL            TC       INTPRET                               
026160,004966: 31,2010           77624                           CALL                                           
026161,004967: 31,2011           62120                                    V67WW                                 
026162,004968: 31,2012           77776                           EXIT                                           
026163,004969: 31,2013           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
026164,004970: 31,2014           31601                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
026165,004971: 31,2015           53607                           DXCH     WWBIAS     +2                         
026166,004972: 31,2016           00006                           EXTEND                                         
026167,004973: 31,2017           31603                           DCA      WWVEL                                 
026168,004974: 31,2020           53611                           DXCH     WWBIAS     +4                         
026169,004975: 31,2021           00006                           EXTEND                                         
026170,004976: 31,2022           31605                           DCA      WWBIAS                                
026171,004977: 31,2023           53613                           DXCH     WWBIAS     +6                         
026172,004978: 31,2024           32143        V06N99DS           CAF      V06N99                                
026173,004979: 31,2025           04616                           TC       BANKCALL                              
026174,004980: 31,2026           20334                           CADR     GOXDSPF                               
026175,004981: 31,2027           15472                           TCF      ENDEXT                                
026176,004982: 31,2030           12032                           TCF      V6N99PRO                              
026177,004983: 31,2031           12024                           TCF      V06N99DS                              
026178,004984: 31,2032           22007        V6N99PRO           ZL                                             
026179,004985: 31,2033           34756                           CA       FIVE                                  
026180,004986: 31,2034           54002        N99LOOP            TS       Q                                     
026181,004987: 31,2035           50002                           INDEX    Q                                     
026182,004988: 31,2036           41600                           CS       WWPOS                                 
026183,004989: 31,2037           50002                           INDEX    Q                                     
026184,004990: 31,2040           61606                           AD       WWPOS      +6                         
026185,004991: 31,2041           26001                           ADS      L                                     
026186,004992: 31,2042           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026187,004993: 31,2043           12034                           TCF      N99LOOP                               
026188,004994: 31,2044           22000                           LXCH     A                                     
026189,004995: 31,2045           00006                           EXTEND                                         
026190,004996: 31,2046           12051                           BZF      V06N9933                              
026191,004997: 31,2047           05504                           TC       UPFLAG                                
026192,004998: 31,2050           00160                           ADRES    V67FLAG                               
026193,004999: 
026194,005000: 31,2051           06037        V06N9933           TC       INTPRET                               
026195,005001: 31,2052           77414                           BON      EXIT                                  
026196,005002: 31,2053           03707                                    V67FLAG                               
026197,005003: 31,2054           62056                                    +2                                    
026198,005004: 31,2055           15472                           TCF      ENDEXT                                
026199,005005: 31,2056           77745                           DLOAD                                          

Page 609

026201,005007: 31,2057           02201                                    WWPOS                                 
026202,005008: 31,2060           72412                           SL4      SL1                                   
026203,005009: 31,2061           14001                           STODL    0D                                    
026204,005010: 31,2062           02203                                    WWVEL                                 
026205,005011: 31,2063           14003                           STODL    2D                                    
026206,005012: 31,2064           02205                                    WWBIAS                                
026207,005013: 31,2065           77661                           SL                                             #  SHIFT FROM NOUN SCALING (B-5) TO
026208,005014: 31,2066           20213                                    10D                                   #  INTERNAL SCALING (B+5)
026209,005015: 31,2067           00005                           STORE    4D                                    
026210,005016: 31,2070           72014                           BON      LXA,1                                 
026211,005017: 31,2071           04307                                    SURFFLAG                              
026212,005018: 31,2072           62102                                    V67SURF                               
026213,005019: 31,2073           00000                                    0D                                    
026214,005020: 31,2074           72130                           SXA,1    LXA,1                                 
026215,005021: 31,2075           02000                                    WRENDPOS                              
026216,005022: 31,2076           00002                                    2D                                    
026217,005023: 31,2077           52130                           SXA,1    GOTO                                  
026218,005024: 31,2100           02001                                    WRENDVEL                              
026219,005025: 31,2101           62110                                    V67CLRF                               
026220,005026: 31,2102           66150        V67SURF            LXA,1    SXA,1                                 
026221,005027: 31,2103           00000                                    0D                                    
026222,005028: 31,2104           02006                                    WSURFPOS                              
026223,005029: 31,2105           66150                           LXA,1    SXA,1                                 
026224,005030: 31,2106           00002                                    2D                                    
026225,005031: 31,2107           02007                                    WSURFVEL                              
026226,005032: 31,2110           66150        V67CLRF            LXA,1    SXA,1                                 
026227,005033: 31,2111           00004                                    4D                                    
026228,005034: 31,2112           02003                                    WTRUN                                 
026229,005035: 31,2113           77730                           SXA,1                                          
026230,005036: 31,2114           02002                                    WSHAFT                                
026231,005037: 31,2115           77414                           CLEAR    EXIT                                  
026232,005038: 31,2116           02676                                    RENDWFLG                              
026233,005039: 31,2117           15472                           TCF      ENDEXT                                
026234,005040: 31,2120           40020        V67WW              STQ      BOV                                   
026235,005041: 31,2121           00051                                    S2                                    
026236,005042: 31,2122           62123                                    +1                                    
026237,005043: 31,2123           45014                           CLEAR    CALL                                  
026238,005044: 31,2124           03667                                    V67FLAG                               
026239,005045: 31,2125           27414                                    INTSTALL                              
026240,005046: 31,2126           71331                           SSP      DLOAD                                 
026241,005047: 31,2127           00051                                    S1                                    
026242,005048: 31,2130           00006                           DEC      6          B-14                       
026243,005049: 31,2131           06522                                    ZEROVECS                              
026244,005050: 31,2132           02201                           STORE    WWPOS                                 
026245,005051: 31,2133           02203                           STORE    WWVEL                                 
026246,005052: 31,2134           02205                           STORE    WWBIAS                                
026247,005053: 31,2135           77770                           AXT,1                                          
026248,005054: 31,2136           00066                           DEC      54         B-14                       
026249,005055: 31,2137           47573        NXPOSVEL           VLOAD*   VSQ                                   
026250,005056: 31,2140           02467                                    W          +54D,1                     

Page 610

026252,005058: 31,2141           77650                           GOTO                                           
026253,005059: 31,2142           60002                                    ADDPOS                                
026254,005060: 31,2143           01543        V06N99             VN       0699                                  
026255,005061: 
026256,005062: 30,2000                                           SETLOC   VB67A                                 
026257,005063: 30,2000                                           BANK                                           
026258,005064: 30,2002                                           COUNT*   $$/EXTVB                              
026259,005065: 
026260,005066: 30,2002           77615        ADDPOS             DAD                                            
026261,005067: 30,2003           02201                                    WWPOS                                 
026262,005068: 30,2004           02201                           STORE    WWPOS                                 
026263,005069: 30,2005           47573                           VLOAD*   VSQ                                   
026264,005070: 30,2006           02555                                    W          +108D,1                    
026265,005071: 30,2007           77615                           DAD                                            
026266,005072: 30,2010           02203                                    WWVEL                                 
026267,005073: 30,2011           02203                           STORE    WWVEL                                 
026268,005074: 30,2012           47573                           VLOAD*   VSQ                                   
026269,005075: 30,2013           02643                                    W          +162D,1                    
026270,005076: 30,2014           77615                           DAD                                            
026271,005077: 30,2015           02205                                    WWBIAS                                
026272,005078: 30,2016           02205                           STORE    WWBIAS                                
026273,005079: 30,2017           75500                           TIX,1    SQRT                                  
026274,005080: 30,2020           62137                                    NXPOSVEL                              
026275,005081: 30,2021           77661                           SR                                             #  SHIFT FROM INTERNAL SCALING (B+5) TO
026276,005082: 30,2022           20613                                    10D                                   #  NOUN SCALING (B-5)
026277,005083: 30,2023           16205                           STODL    WWBIAS                                
026278,005084: 30,2024           02203                                    WWVEL                                 
026279,005085: 30,2025           77766                           SQRT                                           
026280,005086: 30,2026           16203                           STODL    WWVEL                                 
026281,005087: 30,2027           02201                                    WWPOS                                 
026282,005088: 30,2030           77766                           SQRT                                           
026283,005089: 30,2031           02201                           STORE    WWPOS                                 
026284,005090: 30,2032           52000                           BOV      GOTO                                  
026285,005091: 30,2033           60035                                    +2                                    
026286,005092: 30,2034           60042                                    V67XXX                                
026287,005093: 30,2035           77745                           DLOAD                                          
026288,005094: 30,2036           06530                                    DPPOSMAX                              
026289,005095: 30,2037           02201                           STORE    WWPOS                                 
026290,005096: 30,2040           02203                           STORE    WWVEL                                 
026291,005097: 30,2041           02205                           STORE    WWBIAS                                
026292,005098: 30,2042           45345        V67XXX             DLOAD    DSU                                   
026293,005099: 30,2043           02201                                    WWPOS                                 
026294,005100: 30,2044           20060                                    FT99999                               
026295,005101: 30,2045           71240                           BMN      DLOAD                                 
026296,005102: 30,2046           60051                                    +3                                    
026297,005103: 30,2047           20060                                    FT99999                               
026298,005104: 30,2050           02201                           STORE    WWPOS                                 
026299,005105: 30,2051           66150                           LXA,1    SXA,1                                 
026300,005106: 30,2052           00051                                    S2                                    
026301,005107: 30,2053           00052                                    QPRET                                 

Page 611

026303,005109: 30,2054           77776                           EXIT                                           
026304,005110: 30,2055           04635                           TC       POSTJUMP                              
026305,005111: 30,2056           27425                           CADR     INTWAKE                               
026306,005112: 
026307,005113: 30,2057           01670 17000  FT99999            2DEC     30479      B-19                       
026308,005114: 

Page 612

026310,005116: 25,3607                                           BANK     25                                    
026311,005117: 25,2000                                           SETLOC   RADARUPT                              
026312,005118: 25,2000                                           BANK                                           
026313,005119: 25,3607                                           COUNT*   $$/RRUPT                              
026314,005120: 
026315,005121: 25,3607  E7,1456                                  EBANK=   LOSCOUNT                              
026316,005122: 
026317,005123: 25,3607           34753        R12LITES           CA       ONE                                   
026318,005124: 25,3610           71303                           MASK     IMODES33                              
026319,005125: 25,3611           10000                           CCS      A                                     
026320,005126: 25,3612           14707                           TCF      ISWRETRN                              
026321,005127: 
026322,005128: 25,3613           03630                           TC       HLIGHT                                
026323,005129: 25,3614           03625                           TC       HLIGHT     -3                         
026324,005130: 25,3615           14707                           TCF      ISWRETRN                              
026325,005131: 
026326,005132: 25,3616           34753        RADLITES           CA       BIT1                                  
026327,005133: 25,3617           71303                           MASK     IMODES33                              
026328,005134: 25,3620           10000                           CCS      A                                     
026329,005135: 25,3621           00002                           TC       Q                                     
026330,005136: 
026331,005137: 25,3622           44747                           CS       BIT5                                  
026332,005138: 25,3623           60061                           AD       ITEMP1                                
026333,005139: 25,3624           10000                           CCS      A                                     
026334,005140: 25,3625           44753                           CS       ONE                                   
026335,005141: 25,3626           13664                           TCF      VLIGHT                                
026336,005142: 
026337,005143: 25,3627           14570                           TCF      RRTRKF                                
026338,005144: 
026339,005145: 25,3630           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
026340,005146: 
026341,005147: 25,3631           34747                           CA       HLITE                                 
026342,005148: 25,3632           54001                           TS       L                                     
026343,005149: 
026344,005150: 25,3633           30107                           CA       FLGWRD11                              
026345,005151: 25,3634           74751                           MASK     SCABBIT                               
026346,005152: 25,3635           10000                           CCS      A                                     
026347,005153: 25,3636           13656                           TCF      ONLITES                               
026348,005154: 25,3637           34747                           CA       LRALTBIT                              
026349,005155: 25,3640           70110        BOTHLITS           MASK     RADMODES                              
026350,005156: 25,3641           10000                           CCS      A                                     
026351,005157: 25,3642           13656                           TCF      ONLITES                               
026352,005158: 
026353,005159: 25,3643           30107                           CA       FLGWRD11                              
026354,005160: 25,3644           50065                           INDEX    ITEMP5                                
026355,005161: 25,3645           74753                           MASK     HFLSHBIT                              
026356,005162: 25,3646           10000                           CCS      A                                     
026357,005163: 25,3647           14570                           TCF      RRTRKF                                

Page 613

026359,005165: 25,3650           00006        LITIT              EXTEND                                         
026360,005166: 25,3651           22066                           QXCH     ITEMP6                                
026361,005167: 25,3652           04602                           TC       TRKFLON    +1                         
026362,005168: 
026363,005169: 25,3653           00006                           EXTEND                                         
026364,005170: 25,3654           22066                           QXCH     ITEMP6                                
026365,005171: 25,3655           14570                           TCF      RRTRKF                                
026366,005172: 
026367,005173: 
026368,005174: 25,3656           50065        ONLITES            INDEX    ITEMP5                                
026369,005175: 25,3657           44753                           CS       HFLSHBIT                              
026370,005176: 25,3660           70107                           MASK     FLGWRD11                              
026371,005177: 25,3661           54107                           TS       FLGWRD11                              
026372,005178: 
026373,005179: 25,3662           30001                           CA       L                                     
026374,005180: 25,3663           13650                           TCF      LITIT                                 
026375,005181: 25,3664           54065        VLIGHT             TS       ITEMP5                                
026376,005182: 25,3665           34751                           CA       VLITE                                 
026377,005183: 25,3666           54001                           TS       L                                     
026378,005184: 25,3667           34744                           CA       BIT8                                  
026379,005185: 25,3670           13640                           TCF      BOTHLITS                              
026380,005186: 
026381,005187: 25,3671     4747               HLITE              EQUALS   BIT5                                  
026382,005188: 25,3671     4751               VLITE              EQUALS   BIT3                                  
026383,005189: 

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