Source Code

This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure!

020756,000002:                                                                                                  ## Copyright:   Public domain.
020757,000003:                                                                                                  ## Filename:    P20-P25.agc
020758,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
020759,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
020760,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
020761,000007:                                                                                                  ## Assembler:   yaYUL
020762,000008:                                                                                                  ## Contact:     Onno Hommes <ohommes@cmu.edu>.
020763,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
020764,000010:                                                                                                  ## Pages:       0492-0613
020765,000011:                                                                                                  ## Mod history: 2009-05-26 OH   Transcribed from page images.
020766,000012:                                                                                                  ##              2009-06-05 RSB  Corrected a typos.
020767,000013:                                                                                                  ##              2009-06-06 RSB  Added a missing instruction, and a block
020768,000014:                                                                                                  ##                              of 3 missing instructions.
020769,000015:                                                                                                  ##              2009-06-07 RSB  Fixed a misprint.
020770,000016:                                                                                                  ##              2009-06-07 RSB  Changed the construct "2DEC E-6 B12" 
020771,000017:                                                                                                  ##                              (which isn't legal in yaYUL) to
020772,000018:                                                                                                  ##                              "2DEC 1.0 E-6 B12".
020773,000019:                                                                                                  ##              2011-05-07 JL   Removed workarounds.
020774,000020:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
020775,000021:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
020776,000022:                                                                                                  ##                              and corrected the errors found.
020777,000023:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
020778,000024:                                                                                                  ##              2017-03-03 RSB  Snapshot of Luminary 99 Rev 1. 
020779,000025:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
020780,000026:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
020781,000027:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
020782,000028: 

Page 492

020784,000030:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
020785,000031: 
020786,000032:                                                                                                  #  PROGRAM DESCRIPTION
020787,000033: 
020788,000034:                                                                                                  #        MOD NO - 2
020789,000035:                                                                                                  #        BY P. VOLANTE
020790,000036: 
020791,000037:                                                                                                  #  FUNCTIONAL DESCRIPTION
020792,000038: 
020793,000039:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
020794,000040:                                                                                                  #        STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER 
020795,000041:                                                                                                  #        THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
020796,000042:                                                                                                  #        ON THE BASIS OF THE RR TRACKING DATA.
020797,000043: 
020798,000044:                                                                                                  #  CALLING SEQUENCE -
020799,000045: 
020800,000046:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E20E
020801,000047: 
020802,000048:                                                                                                  #  SUBROUTINES CALLED
020803,000049: 
020804,000050:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      FLAGUP
020805,000051:                                                                                                  #        GOFLASH (PINBALL-DISPLAY)                       FLAGDOWN
020806,000052:                                                                                                  #        R23LEM  (MANUAL ACQUISITION)                    BANKCALL
020807,000053:                                                                                                  #        LS201   (LOS DETERMINATION)                     TASKOVER
020808,000054:                                                                                                  #        LS202   (RANGE LIMIT TEST)
020809,000055:                                                                                                  #        R61LEM  (PREFERRED TRACKING ATTITUDE)
020810,000056:                                                                                                  #        R21LEM  (RR DESIGNATE)                          ENDOFJOB
020811,000057:                                                                                                  #        R22LEM  (DATA READ)                             GOPERF1
020812,000058:                                                                                                  #        R31LEM  (RENDEZVOUS PARAMETER DISPLAY)  
020813,000059:                                                                                                  #        PRIOLARM (PRIORITY DISPLAY)
020814,000060: 
020815,000061:                                                                                                  #  NORMAL EXIT MODES -
020816,000062: 
020817,000063:                                                                                                  #        P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
020818,000064:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
020819,000065: 
020820,000066:                                                                                                  #  ALARM OR ABORT EXIT MODES -
020821,000067: 
020822,000068:                                                                                                  #        RANGE GREATER THAN 400 NM DISPLAY
020823,000069: 
020824,000070:                                                                                                  #  OUTPUT
020825,000071: 
020826,000072:                                                                                                  #        TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
020827,000073: 
020828,000074:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
020829,000075: 
020830,000076:                                                                                                  #  FLAGS SET + RESET
020831,000077: 
020832,000078:                                                                                                  #        SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
020833,000079: 
020834,000080:                                                                                                  #  DEBRIS
020835,000081: 
020836,000082:                                                                                                  #        CENTRALS - A,Q,L
020837,000083: 
020838,000084: 25,2062  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
020839,000085: 
020840,000086: 33,2045                                           BANK     33                                    
020841,000087: 24,2000                                           SETLOC   P20S                                  
020842,000088: 24,2000                                           BANK                                           
020843,000089: 
020844,000090: 24,2000  E7,1456                                  EBANK=   LOSCOUNT                              
020845,000091: 24,2000                                           COUNT*   $$/P20                                
020846,000092: 24,2000  24,2000               PROG22             =        PROG20                                
020847,000093: 24,2000           05327        PROG20             TC       2PHSCHNG                              
020848,000094: 24,2001           00004                           OCT      4                                     
020849,000095: 24,2002           05022                           OCT      05022                                 
020850,000096: 24,2003           26000                           OCT      26000                                 #  PRIORITY 26
020851,000097: 24,2004           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE

Page 493

020853,000099: 24,2005           02007                           TC       ORBCHGO                               #  YES
020854,000100: 24,2006           02036                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
020855,000101: 24,2007           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
020856,000102: 24,2010           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
020857,000103: 24,2011           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
020858,000104: 24,2012           55145                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
020859,000105: 24,2013           32311                           CAF      OCT00012                              
020860,000106: 24,2014           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
020861,000107: 24,2015           20633                           CADR     GOPERF4                               
020862,000108: 24,2016           06001                           TC       GOTOPOOH                              #  TERMINATE
020863,000109: 24,2017           02021                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
020864,000110: 24,2020           02013                           TC       -5                                    #  R2 LOADED THRU DSKY
020865,000111: 24,2021           42312        ORBCHG1            CS       P22ONE                                
020866,000112: 24,2022           61145                           AD       OPTION2                               
020867,000113: 24,2023           00006                           EXTEND                                         
020868,000114: 24,2024           12040                           BZF      PROG20A                               
020869,000115: 24,2025           32315                           CAF      V06N33*                               
020870,000116: 24,2026           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
020871,000117: 24,2027           20476                           CADR     GOFLASH                               #  TIME OF LAUNCH
020872,000118: 24,2030           06001                           TC       GOTOPOOH                              #  TERMINATE
020873,000119: 24,2031           02033                           TC       ORBCHG2                               #  PROCEED VALUES OK
020874,000120: 24,2032           02025                           TC       -5                                    #  TIME LOADED THRU DSKY
020875,000121: 24,2033           06037        ORBCHG2            TC       INTPRET                               
020876,000122: 24,2034           77650                           GOTO                                           
020877,000123: 24,2035           64217                                    ORBCHG3                               
020878,000124: 32,2217                                           BANK     32                                    
020879,000125: 32,2000                                           SETLOC   P20S4                                 
020880,000126: 32,2000                                           BANK                                           
020881,000127: 32,2217                                           COUNT*   $$/P20                                
020882,000128: 
020883,000129: 32,2217           77624        ORBCHG3            CALL                                           
020884,000130: 32,2220           27414                                    INTSTALL                              
020885,000131: 32,2221           77745                           DLOAD                                          
020886,000132: 32,2222           03442                                    TIG                                   
020887,000133: 32,2223           03661                           STORE    LNCHTM                                
020888,000134: 32,2224           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
020889,000135: 32,2225           43014                           CLEAR    CLEAR                                 
020890,000136: 32,2226           01674                                    VINTFLAG                              #  LM INTEGRATION
020891,000137: 32,2227           01673                                    INTYPFLG                              #  PRECISION - ENCKE
020892,000138: 32,2230           43014                           CLEAR    CLEAR                                 
020893,000139: 32,2231           01676                                    DIM0FLAG                              #  NO W-MATRIX
020894,000140: 32,2232           01675                                    D6OR9FLG                              
020895,000141: 32,2233           77624                           CALL                                           
020896,000142: 32,2234           27134                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
020897,000143: 32,2235           77624                           CALL                                           
020898,000144: 32,2236           11244                                    GRP2PC                                
020899,000145: 32,2237           77775                           VLOAD                                          
020900,000146: 32,2240           00017                                    RATT1                                 
020901,000147: 32,2241           17631                           STODL    RSUBL                                 #  SAVE LM POSITION
020902,000148: 32,2242           00015                                    TAT                                   

Page 494

020904,000150: 32,2243           34041                           STCALL   TDEC1                                 
020905,000151: 32,2244           27414                                    INTSTALL                              
020906,000152: 32,2245           43014                           SET      CLEAR                                 
020907,000153: 32,2246           01474                                    VINTFLAG                              #  CSM INTEGRATION
020908,000154: 32,2247           01673                                    INTYPFLG                              
020909,000155: 32,2250           43014                           CLEAR    BOFF                                  
020910,000156: 32,2251           01676                                    DIM0FLAG                              
020911,000157: 32,2252           02756                                    RENDWFLG                              #  W MATRIX VALID
020912,000158: 32,2253           64257                                    NOWMATX                               #  NO
020913,000159: 32,2254           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
020914,000160: 32,2255           01476                                    DIM0FLAG                              
020915,000161: 32,2256           01475                                    D6OR9FLG                              
020916,000162: 32,2257           77624        NOWMATX            CALL                                           
020917,000163: 32,2260           27134                                    INTEGRV                               #  CSM INTEGRATION
020918,000164: 32,2261           77624                           CALL                                           
020919,000165: 32,2262           11244                                    GRP2PC                                
020920,000166: 32,2263           77775                           VLOAD                                          
020921,000167: 32,2264           00025                                    VATT1                                 
020922,000168: 32,2265           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
020923,000169: 32,2266           00017                                    RATT1                                 
020924,000170: 32,2267           01102                           STORE    RSUBC                                 #  SAVE CSM POSITION
020925,000171: 32,2270           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
020926,000172: 32,2271           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
020927,000173: 32,2272           24025                           STOVL    20D                                   #  SAVE NSUB1
020928,000174: 32,2273           03631                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
020929,000175: 32,2274           53435                           VXV      UNIT                                  #  PLANE CHANGE
020930,000176: 32,2275           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
020931,000177: 32,2276           27637                           STOVL    UCSM                                  
020932,000178: 32,2277           01102                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
020933,000179: 32,2300           50256                           UNIT     DOT                                   #  AND RSUBC
020934,000180: 32,2301           03637                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
020935,000181: 32,2302           77752                           SL1                                            
020936,000182: 32,2303           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
020937,000183: 32,2304           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
020938,000184: 32,2305           10314                                    ONEB-2                                
020939,000185: 32,2306           77766                           SQRT                                           
020940,000186: 32,2307           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
020941,000187: 32,2310           01102                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
020942,000188: 32,2311           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
020943,000189: 32,2312           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
020944,000190: 32,2313           77676                           VCOMP                                          
020945,000191: 32,2314           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
020946,000192: 32,2315           45014                           CLEAR    CALL                                  
020947,000193: 32,2316           03666                                    RVSW                                  
020948,000194: 32,2317           24732                                    TIMETHET                              
020949,000195: 32,2320           77676                           VCOMP                                          
020950,000196: 32,2321           03645                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
020951,000197: 32,2322           77745                           DLOAD                                          
020952,000198: 32,2323           00037                                    T                                     
020953,000199: 32,2324           27663                           STOVL    TRANSTM                               #  TRANSFER TIME

Page 495

020955,000201: 32,2325           03645                                    NEWVEL                                
020956,000202: 32,2326           77646                           ABVAL                                          
020957,000203: 32,2327           24025                           STOVL    20D                                   
020958,000204: 32,2330           00001                                    0D                                    
020959,000205: 32,2331           03653                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
020960,000206: 32,2332           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
020961,000207: 32,2333           03631                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
020962,000208: 32,2334           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
020963,000209: 32,2335           03653                                    NEWPOS                                #  ORBITAL PLANE
020964,000210: 32,2336           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
020965,000211: 32,2337           00025                                    20D                                   
020966,000212: 32,2340           37665                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
020967,000213: 32,2341           11244                                    GRP2PC                                
020968,000214: 32,2342           77624                           CALL                                           
020969,000215: 32,2343           27414                                    INTSTALL                              
020970,000216: 32,2344           44345                           DLOAD    BDSU                                  
020971,000217: 32,2345           03663                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
020972,000218: 32,2346           03661                                    LNCHTM                                
020973,000219: 32,2347           25517                           STOVL    TET                                   
020974,000220: 32,2350           03653                                    NEWPOS                                
020975,000221: 32,2351           01535                           STORE    RCV                                   
020976,000222: 32,2352           25503                           STOVL    RRECT                                 
020977,000223: 32,2353           03665                                    NCSMVEL                               
020978,000224: 32,2354           35511                           STCALL   VRECT                                 
020979,000225: 32,2355           23455                                    MINIRECT                              
020980,000226: 32,2356           45174                           AXT,2    CALL                                  
020981,000227: 32,2357           00002                                    2                                     
020982,000228: 32,2360           26661                                    ATOPCSM                               
020983,000229: 32,2361           77624                           CALL                                           
020984,000230: 32,2362           27423                                    INTWAKE0                              
020985,000231: 32,2363           77776                           EXIT                                           
020986,000232: 32,2364           04616                           TC       BANKCALL                              
020987,000233: 32,2365           50040                           CADR     PROG20A                               
020988,000234: 
020989,000235: 24,2036                                           BANK     24                                    
020990,000236: 24,2000                                           SETLOC   P20S                                  
020991,000237: 24,2000                                           BANK                                           
020992,000238: 24,2036                                           COUNT*   $$/P20                                
020993,000239: 
020994,000240: 24,2036           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG - LM STATE VECTOR
020995,000241: 24,2037           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
020996,000242: 24,2040           04616        PROG20A            TC       BANKCALL                              
020997,000243: 24,2041           11254                           CADR     R02BOTH                               
020998,000244: 24,2042           05504                           TC       UPFLAG                                
020999,000245: 24,2043           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
021000,000246: 24,2044           05504                           TC       UPFLAG                                
021001,000247: 24,2045           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021002,000248: 24,2046           05504                           TC       UPFLAG                                
021003,000249: 24,2047           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
021004,000250: 24,2050           05516                           TC       DOWNFLAG                              
021005,000251: 24,2051           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF

Page 496

021007,000253: 24,2052           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
021008,000254: 24,2053           00040                           ADRES    ACMODFLG                              
021009,000255: 24,2054           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
021010,000256: 24,2055           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
021011,000257: 24,2056           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
021012,000258: 24,2057           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
021013,000259: 24,2060           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
021014,000260: 24,2061           00041                           ADRES    LOSCMFLG                              
021015,000261: 24,2062           06011                           TC       CLRADMOD                              
021016,000262: 24,2063           05353        P20LEM1            TC       PHASCHNG                              
021017,000263: 24,2064           04022                           OCT      04022                                 
021018,000264: 24,2065           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
021019,000265: 24,2066           55462                           TS       MARKCTR                               
021020,000266: 24,2067           06037                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
021021,000267: 24,2070           77634                           RTB                                            
021022,000268: 24,2071           21573                                    LOADTIME                              
021023,000269: 24,2072           34041                           STCALL   TDEC1                                 
021024,000270: 24,2073           51255                                    LPS20.1                               
021025,000271: 24,2074           77624                           CALL                                           
021026,000272: 24,2075           53565                                    LPS20.2                               #  TEST RANGE R/UTINE
021027,000273: 24,2076           77776                           EXIT                                           
021028,000274: 24,2077           50154                           INDEX    MPAC                                  
021029,000275: 24,2100           02101                           TC       +1                                    
021030,000276: 24,2101           02111                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
021031,000277: 24,2102           32305        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
021032,000278: 24,2103           04616                           TC       BANKCALL                              
021033,000279: 24,2104           21562                           CADR     PRIOLARM                              
021034,000280: 24,2105           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021035,000281: 24,2106           02102                           TC       -4                                    #  PROC (ILLEGAL
021036,000282: 24,2107           02063                           TC       P20LEM1                               #  ENTER RECYCLE
021037,000283: 24,2110           05155                           TC       ENDOFJOB                              
021038,000284: 
021039,000285: 24,2111           05353        P20LEMA            TC       PHASCHNG                              
021040,000286: 24,2112           04022                           OCT      04022                                 
021041,000287: 24,2113           02667                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
021042,000288: 24,2114           02117                           TC       P20LEMB                               
021043,000289: 24,2115           04616                           TC       BANKCALL                              
021044,000290: 24,2116           46116                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
021045,000291: 24,2117           05353        P20LEMB            TC       PHASCHNG                              
021046,000292: 24,2120           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
021047,000293: 24,2121           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
021048,000294: 24,2122           37714                           CAF      PRIO26                                #  RESTORE PRIORITY 26
021049,000295: 24,2123           05146                           TC       PRIOCHNG                              
021050,000296: 24,2124           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
021051,000297: 24,2125           74747                           MASK     TRACKBIT                              
021052,000298: 24,2126           00006                           EXTEND                                         
021053,000299: 24,2127           12232                           BZF      P20LEMWT                              #  BRANCH - NO - WAIT FOR IT TO BE SET
021054,000300: 24,2130           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
021055,000301: 24,2131           00006                           EXTEND                                         

Page 497

021057,000303: 24,2132           02033                           RAND     CHAN33                                
021058,000304: 24,2133           00006                           EXTEND                                         
021059,000305: 24,2134           12170                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
021060,000306: 
021061,000307: 24,2135           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
021062,000308: 24,2136           61011                           AD       MODREG                                #  MAJOR MODE IS 20
021063,000309: 24,2137           00006                           EXTEND                                         
021064,000310: 24,2140           12153                           BZF      P20LEMB6                              #  BRANCH - YES - OK TO DO PLEASE PERFORM
021065,000311: 
021066,000312: 24,2141           67746                           AD       NEG2                                  #  ALSO CHECK FOR P22
021067,000313: 24,2142           00006                           EXTEND                                         
021068,000314: 24,2143           12153                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
021069,000315: 24,2144           32307                           CAF      ALRM514                               #  TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021070,000316: 24,2145           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
021071,000317: 24,2146           21562                           CADR     PRIOLARM                              
021072,000318: 24,2147           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
021073,000319: 24,2150           02117                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
021074,000320: 24,2151           02117                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
021075,000321: 24,2152           05155                           TC       ENDOFJOB                              
021076,000322: 24,2153           32306        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
021077,000323: 24,2154           04616                           TC       BANKCALL                              
021078,000324: 24,2155           20623                           CADR     GOPERF1                               
021079,000325: 24,2156           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021080,000326: 24,2157           02117                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021081,000327: 24,2160           02667                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
021082,000328: 24,2161           02166                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021083,000329: 24,2162           03135                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
021084,000330: 
021085,000331: 24,2163           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
021086,000332: 24,2164           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
021087,000333: 24,2165           02117                           TC       P20LEMB                               #  RR AUTO MODE
021088,000334: 
021089,000335: 24,2166           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
021090,000336: 24,2167           02117                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
021091,000337: 
021092,000338: 24,2170           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021093,000339: 24,2171           74737                           MASK     RCDU0BIT                              
021094,000340: 24,2172           00006                           EXTEND                                         
021095,000341: 24,2173           12205                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
021096,000342: 24,2174           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
021097,000343: 24,2175           70076                           MASK     FLAGWRD2                              
021098,000344: 24,2176           00006                           EXTEND                                         
021099,000345: 24,2177           12211                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
021100,000346: 24,2200           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
021101,000347: 24,2201           00037                           ADRES    SRCHOPTN                              

Page 498

021103,000349: 24,2202           05516                           TC       DOWNFLAG                              
021104,000350: 24,2203           00040                           ADRES    ACMODFLG                              
021105,000351: 24,2204           02232                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021106,000352: 
021107,000353: 24,2205           32304        P20LEMB4           CAF      250DEC                                
021108,000354: 24,2206           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021109,000355: 24,2207           01735                           CADR     DELAYJOB                              #  ZEROED - THEN GO BACK AND CHECK AGAIN
021110,000356: 24,2210           02170                           TC       P20LEMB3                              
021111,000357: 
021112,000358: 24,2211           06037        P20LEMC3           TC       INTPRET                               
021113,000359: 24,2212           77634                           RTB                                            
021114,000360: 24,2213           21573                                    LOADTIME                              
021115,000361: 24,2214           34041                           STCALL   TDEC1                                 
021116,000362: 24,2215           50316                                    UPPSV                                 
021117,000363: 24,2216           77776        P20LEMC4           EXIT                                           
021118,000364: 24,2217           05353        P20LEMC            TC       PHASCHNG                              
021119,000365: 24,2220           04022                           OCT      04022                                 
021120,000366: 24,2221           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
021121,000367: 24,2222           74745                           MASK     RNDVZBIT                              
021122,000368: 24,2223           00006                           EXTEND                                         
021123,000369: 24,2224           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
021124,000370: 24,2225           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021125,000371: 24,2226           74747                           MASK     TRACKBIT                              
021126,000372: 24,2227           00006                           EXTEND                                         
021127,000373: 24,2230           12264                           BZF      P20LEMD                               #  BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021128,000374: 24,2231           02674        P20LEMF            TC       R21LEM                                
021129,000375: 
021130,000376: 24,2232           32304        P20LEMWT           CAF      250DEC                                
021131,000377: 24,2233           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
021132,000378: 24,2234           02244                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
021133,000379: 24,2235           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021134,000380: 24,2236           74747                           MASK     TRACKBIT                              
021135,000381: 24,2237           00006                           EXTEND                                         
021136,000382: 24,2240           15155                           BZF      ENDOFJOB                              #  NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021137,000383: 24,2241           05353        P20LMWT1           TC       PHASCHNG                              
021138,000384: 24,2242           40072                           OCT      40072                                 
021139,000385: 24,2243           05155                           TC       ENDOFJOB                              
021140,000386: 
021141,000387: 24,2244           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
021142,000388: 24,2245           74745                           MASK     RNDVZBIT                              
021143,000389: 24,2246           00006                           EXTEND                                         
021144,000390: 24,2247           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
021145,000391: 24,2250           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021146,000392: 24,2251           74747                           MASK     TRACKBIT                              
021147,000393: 24,2252           00006                           EXTEND                                         
021148,000394: 24,2253           12261                           BZF      P20LEMC2                              #  NO - DONT SCHEDULE R22 JOB

Page 499

021150,000396: 24,2254           37714                           CAF      PRIO26                                #  YES - SCHEDULE R22 JOB (RR DATA READ)
021151,000397: 24,2255           05105                           TC       FINDVAC                               
021152,000398: 24,2256  E7,1456                                  EBANK=   LOSCOUNT                              
021153,000399: 24,2256           02627 50067                     2CADR    R22LEM42                              
021154,000400: 
021155,000401: 24,2260           05261                           TC       TASKOVER                              
021156,000402: 
021157,000403: 24,2261           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET, WAIT 15 SECONDS
021158,000404: 24,2262           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
021159,000405: 
021160,000406: 24,2263           02244                           TC       P20LEMC1                              
021161,000407: 
021162,000408: 24,2264           32666        P20LEMD            CAF      1500DEC                               
021163,000409: 24,2265           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
021164,000410: 24,2266           02270                           ADRES    P20LEMD1                              
021165,000411: 24,2267           05155                           TC       ENDOFJOB                              
021166,000412: 
021167,000413: 24,2270           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
021168,000414: 24,2271           74747                           MASK     TRACKBIT                              
021169,000415: 24,2272           10000                           CCS      A                                     
021170,000416: 24,2273           12277                           TCF      P20LEMD2                              #  YES - SCHEDULE DESIGNATE JOB
021171,000417: 24,2274           05221                           TC       FIXDELAY                              #  NO - WAIT 15 SECONDS
021172,000418: 24,2275           02734                           DEC      1500       B-14                       
021173,000419: 24,2276           02270                           TC       P20LEMD1                              
021174,000420: 
021175,000421: 24,2277           37714        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
021176,000422: 24,2300           05105                           TC       FINDVAC                               
021177,000423: 24,2301  E7,1456                                  EBANK=   LOSCOUNT                              
021178,000424: 24,2301           02211 50067                     2CADR    P20LEMC3                              #  START AT PERM.  MEMORY INTEGRATION
021179,000425: 
021180,000426: 24,2303           05261                           TC       TASKOVER                              
021181,000427: 
021182,000428: 24,2304           00372        250DEC             DEC      250        B-14                       
021183,000429: 24,2305           00526        ALRM526            OCT      00526                                 
021184,000430: 24,2306           00201        OCT201             OCT      00201                                 
021185,000431: 24,2307           00514        ALRM514            OCT      514                                   
021186,000432: 24,2310           00074        MAXTRIES           DEC      60         B-14                       
021187,000433: 24,2311           00012        OCT00012           OCT      00012                                 
021188,000434: 24,2312           00001        P22ONE             OCT      00001                                 
021189,000435: 24,2313           10000 00000  ONEB-2             2DEC     1.0        B-2                        
021190,000436: 
021191,000437: 24,2315           01441        V06N33*            VN       0633                                  
021192,000438: 24,2316           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
021193,000439: 24,2317           01757                                    LS21X                                 #        TO PRESENT TIME
021194,000440: 24,2320           27414                                    INTSTALL                              
021195,000441: 24,2321           77624                           CALL                                           

Page 500

021197,000443: 24,2322           26644                                    SETIFLGS                              
021198,000444: 24,2323           43014                           BOF      SET                                   #  IF W-MATRIX INVALID, DONT INTEGRATE IT
021199,000445: 24,2324           02756                                    RENDWFLG                              
021200,000446: 24,2325           50336                                    UPPSV1                                
021201,000447: 24,2326           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
021202,000448: 24,2327           43014                           BON      SET                                   
021203,000449: 24,2330           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
021204,000450: 24,2331           50333                                    UPPSV5                                
021205,000451: 24,2332           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
021206,000452: 24,2333           77614        UPPSV5             BOF                                            
021207,000453: 24,2334           00747                                    VEHUPFLG                              
021208,000454: 24,2335           50370                                    UPPSV3                                
021209,000455: 24,2336           77614        UPPSV1             SET                                            
021210,000456: 24,2337           01474                                    VINTFLAG                              
021211,000457: 24,2340           77624                           CALL                                           
021212,000458: 24,2341           27134                                    INTEGRV                               
021213,000459: 24,2342           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
021214,000460: 24,2343           11244                                    GRP2PC                                #  TO PROTECT INTEGRATION
021215,000461: 24,2344           77624                           CALL                                           
021216,000462: 24,2345           27414                                    INTSTALL                              
021217,000463: 24,2346           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
021218,000464: 24,2347           01571                                    TETCSM                                
021219,000465: 24,2350           01674                                    VINTFLAG                              
021220,000466: 24,2351           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
021221,000467: 24,2352           26644                                    SETIFLGS                              #        WITHOUT W-MATRIX
021222,000468: 24,2353           34041                           STCALL   TDEC1                                 
021223,000469: 24,2354           27134                                    INTEGRV                               
021224,000470: 24,2355           77214                           BOFF     VLOAD                                 
021225,000471: 24,2356           04347                                    SURFFLAG                              
021226,000472: 24,2357           50216                                    P20LEMC4                              
021227,000473: 24,2360           01661                                    RCVLEM                                
021228,000474: 24,2361           77742                           VSR2                                           
021229,000475: 24,2362           26352                           STOVL    LMPOS                                 
021230,000476: 24,2363           01667                                    VCVLEM                                
021231,000477: 24,2364           77742                           VSR2                                           
021232,000478: 24,2365           02360                           STORE    LMVEL                                 
021233,000479: 24,2366           77650                           GOTO                                           
021234,000480: 24,2367           01757                                    LS21X                                 
021235,000481: 
021236,000482: 24,2370           45014        UPPSV3             CLEAR    CALL                                  
021237,000483: 24,2371           01674                                    VINTFLAG                              
021238,000484: 24,2372           27134                                    INTEGRV                               
021239,000485: 24,2373           77624                           CALL                                           
021240,000486: 24,2374           11244                                    GRP2PC                                
021241,000487: 24,2375           77624                           CALL                                           
021242,000488: 24,2376           27414                                    INTSTALL                              
021243,000489: 24,2377           71214                           SET      DLOAD                                 
021244,000490: 24,2400           01474                                    VINTFLAG                              
021245,000491: 24,2401           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.

Page 501

021247,000493: 24,2402           77650                           GOTO                                           
021248,000494: 24,2403           50351                                    UPPSV4                                
021249,000495: 24,2404  E7,1456                                  EBANK=   LOSCOUNT                              
021250,000496: 24,2404                                           COUNT*   $$/P22                                
021251,000497: 

Page 502

021253,000499:                                                                                                  #  PROGRAM DESCRIPTION
021254,000500: 
021255,000501:                                                                                                  #        PREFERRED TRACKING ATTITUDE PROGRAM P25
021256,000502:                                                                                                  #        MOD NO - 3
021257,000503:                                                                                                  #        BY P. VOLANTE
021258,000504: 
021259,000505:                                                                                                  #  FUNCTIONAL DESCRIPTION
021260,000506: 
021261,000507:                                                                                                  #        THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021262,000508:                                                                                                  #        ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021263,000509:                                                                                                  #        CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021264,000510:                                                                                                  #        CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021265,000511: 
021266,000512:                                                                                                  #  CALLING SEQUENCE -
021267,000513: 
021268,000514:                                                                                                  #        ASTRONAUT REQUEST THROUGH DSKY V37E25E
021269,000515: 
021270,000516:                                                                                                  #  SUBROUTINES CALLED -
021271,000517: 
021272,000518:                                                                                                  #        BANKCALL                                        FLAGUP
021273,000519:                                                                                                  #        R02BOTH (IMU STATUS CHECK)                      ENDOFJOB
021274,000520:                                                                                                  #        R61LEM  (PREF TRK ATT ROUT)                     WAITLIST
021275,000521:                                                                                                  #        TASKOVER                                        FINDVAC
021276,000522: 
021277,000523:                                                                                                  #  NORMAL EXIT MODES -
021278,000524: 
021279,000525:                                                                                                  #        P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021280,000526:                                                                                                  #        PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021281,000527: 
021282,000528:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021283,000529: 
021284,000530:                                                                                                  #        NONE
021285,000531: 
021286,000532:                                                                                                  #  OUTPUT
021287,000533: 
021288,000534:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021289,000535: 
021290,000536:                                                                                                  #  FLAGS SET + RESET
021291,000537: 
021292,000538:                                                                                                  #        TRACKFLG, P25FLAG
021293,000539: 
021294,000540:                                                                                                  #  DEBRIS
021295,000541: 
021296,000542:                                                                                                  #        NONE
021297,000543: 
021298,000544: 24,2404  E7,1456                                  EBANK=   LOSCOUNT                              
021299,000545: 24,2404                                           COUNT*   $$/P25                                
021300,000546: 24,2404           05327        PROG25             TC       2PHSCHNG                              
021301,000547: 24,2405           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
021302,000548: 24,2406           05022                           OCT      05022                                 
021303,000549: 24,2407           26000                           OCT      26000                                 #  PRIORITY 26
021304,000550: 
021305,000551: 24,2410           04616                           TC       BANKCALL                              
021306,000552: 24,2411           11254                           CADR     R02BOTH                               #  IMU STATUS CHECK
021307,000553: 24,2412           05504                           TC       UPFLAG                                
021308,000554: 24,2413           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
021309,000555: 24,2414           05504                           TC       UPFLAG                                
021310,000556: 24,2415           00006                           ADRES    P25FLAG                               #  SET P25FLAG
021311,000557: 24,2416           05353        P25LEM1            TC       PHASCHNG                              
021312,000558: 24,2417           04022                           OCT      04022                                 
021313,000559: 24,2420           34743                           CAF      P25FLBIT                              
021314,000560: 24,2421           70074                           MASK     STATE                                 #  IS P25FLAG SET
021315,000561: 24,2422           00006                           EXTEND                                         
021316,000562: 24,2423           15155                           BZF      ENDOFJOB                              
021317,000563: 24,2424           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021318,000564: 24,2425           70075                           MASK     STATE      +1                         
021319,000565: 24,2426           00006                           EXTEND                                         

Page 503

021321,000567: 24,2427           12437                           BZF      P25LMWT1                              #  NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021322,000568: 24,2430           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
021323,000569: 24,2431           55745                           TS       R65CNTR                               
021324,000570: 24,2432           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
021325,000571: 24,2433           46123                           CADR     R65LEM                                
021326,000572: 24,2434           02416                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
021327,000573: 24,2435           05353        P25LEMWT           TC       PHASCHNG                              
021328,000574: 24,2436           00112                           OCT      00112                                 
021329,000575: 24,2437           32450        P25LMWT1           CAF      60SCNDS                               
021330,000576: 24,2440           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
021331,000577: 24,2441           02443                           ADRES    P25LEM2                               
021332,000578: 24,2442           05155                           TC       ENDOFJOB                              
021333,000579: 24,2443           35024        P25LEM2            CAF      PRIO14                                
021334,000580: 24,2444           05105                           TC       FINDVAC                               
021335,000581: 24,2445  E7,1456                                  EBANK=   LOSCOUNT                              
021336,000582: 24,2445           02416 50067                     2CADR    P25LEM1                               
021337,000583: 
021338,000584: 24,2447           05261                           TC       TASKOVER                              
021339,000585: 24,2450           13560        60SCNDS            DEC      6000       B-14                       
021340,000586: 

Page 504

021342,000588:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
021343,000589:                                                                                                  #  PROGRAM DESCRIPTION
021344,000590: 
021345,000591:                                                                                                  #        MOD NO - 2
021346,000592:                                                                                                  #        BY P VOLANTE
021347,000593: 
021348,000594:                                                                                                  #  FUNCTIONAL DESCRIPTION
021349,000595: 
021350,000596:                                                                                                  #        TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021351,000597:                                                                                                  #        LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021352,000598: 
021353,000599:                                                                                                  #  CALLING SEQUENCE -
021354,000600: 
021355,000601:                                                                                                  #        TC      BANKCALL
021356,000602:                                                                                                  #        CADR    R22LEM
021357,000603: 
021358,000604:                                                                                                  #  SUBROUTINES CALLED -
021359,000605: 
021360,000606:                                                                                                  #        LSR22.1         GOFLASH         WAITLIST
021361,000607:                                                                                                  #        LSR22.2         PRIOLARM        BANKCALL
021362,000608:                                                                                                  #        LSR22.3         R61LEM
021363,000609: 
021364,000610:                                                                                                  #  NORMAL EXIT MODES -
021365,000611: 
021366,000612:                                                                                                  #        R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021367,000613:                                                                                                  #        UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021368,000614:                                                                                                  #        R22 WILL TERMINATE SELF.
021369,000615: 
021370,000616:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021371,000617: 
021372,000618:                                                                                                  #        PRIORITY ALARM
021373,000619:                                                                                                  #        PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021374,000620: 
021375,000621:                                                                                                  #  OUTPUT
021376,000622: 
021377,000623:                                                                                                  #        SEE OUTPUT FROM LSR22.3
021378,000624: 
021379,000625:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021380,000626: 
021381,000627:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021382,000628: 
021383,000629:                                                                                                  #  FLAGS SET + RESET
021384,000630: 
021385,000631:                                                                                                  #        NOANGFLG
021386,000632: 
021387,000633:                                                                                                  #  DEBRIS
021388,000634: 
021389,000635:                                                                                                  #        SEE LSR22.1, LSR22.2, LSR22.3
021390,000636: 
021391,000637: 24,2451  E7,1737                                  EBANK=   LRS22.1X                              
021392,000638: 24,2451                                           COUNT*   $$/R22                                
021393,000639: 24,2451           05353        R22LEM             TC       PHASCHNG                              
021394,000640: 24,2452           04022                           OCT      04022                                 
021395,000641: 24,2453           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
021396,000642: 24,2454           70074                           MASK     STATE                                 
021397,000643: 24,2455           00006                           EXTEND                                         
021398,000644: 24,2456           15155                           BZF      ENDOFJOB                              #  NO - EXIT R22 AND P20
021399,000645: 24,2457           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
021400,000646: 24,2460           70075                           MASK     STATE      +1                         
021401,000647: 24,2461           00006                           EXTEND                                         
021402,000648: 24,2462           12636                           BZF      R22WAIT                               #  NO WAIT
021403,000649: 24,2463           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
021404,000650: 24,2464           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARSIT
021405,000651: 24,2465           02012                           RAND     CHAN12                                
021406,000652: 24,2466           00006                           EXTEND                                         
021407,000653: 24,2467           12111                           BZF      P20LEMA                               #  NO - RETURN TO P20
021408,000654: 24,2470           34752                           CAF      BIT2                                  #  YES
021409,000655: 24,2471           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
021410,000656: 24,2472           02033                           RAND     CHAN33                                

Page 505

021412,000658: 24,2473           00006                           EXTEND                                         
021413,000659: 24,2474           12476                           BZF      +2                                    #  YES CONTINUE
021414,000660: 24,2475           02135                           TC       P20LEMB5                              #  NO - SET IT
021415,000661: 24,2476           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
021416,000662: 24,2477           74737                           MASK     RCDU0BIT                              
021417,000663: 24,2500           00006                           EXTEND                                         
021418,000664: 24,2501           12627                           BZF      R22LEM42                              #  CDUS BEING ZEROED
021419,000665: 24,2502           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS, AN EXTRA RADAR
021420,000666: 24,2503           00152                           OCT      00152                                 #  READING IS TAKEN, SO BAD DATA ISN'T USED
021421,000667: 24,2504           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
021422,000668: 24,2505           64366                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
021423,000669: 24,2506           50154                           INDEX    MPAC                                  
021424,000670: 24,2507           02510                           TC       +1                                    
021425,000671: 24,2510           02531                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
021426,000672: 24,2511           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021427,000673: 24,2512           32663                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
021428,000674: 24,2513           04616                           TC       BANKCALL                              
021429,000675: 24,2514           21562                           CADR     PRIOLARM                              
021430,000676: 24,2515           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021431,000677: 24,2516           02521                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
021432,000678: 24,2517           02512                           TC       -5                                    #  ENTER (ILLEGAL OPTION)
021433,000679: 24,2520           05155                           TC       ENDOFJOB                              
021434,000680: 
021435,000681: 24,2521           05353        R22LEM1            TC       PHASCHNG                              
021436,000682: 24,2522           04022                           OCT      04022                                 
021437,000683: 24,2523           32664                           CAF      V06N05                                #  DISPLAY DELTA THETA
021438,000684: 24,2524           04616                           TC       BANKCALL                              
021439,000685: 24,2525           20507                           CADR     PRIODSP                               
021440,000686: 24,2526           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021441,000687: 24,2527           02531                           TC       R22LEM2                               #  PROC (OK CONTINUE)
021442,000688: 24,2530           02217                           TC       P20LEMC                               #  ENTER (RECYCLE)
021443,000689: 24,2531           05353        R22LEM2            TC       PHASCHNG                              
021444,000690: 24,2532           04022                           OCT      04022                                 
021445,000691: 24,2533           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021446,000692: 24,2534           02551                           TC       R22LEM3                               #  YES - BYPASS FLAG CHECKS AND LRS22.2
021447,000693: 24,2535           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
021448,000694: 24,2536           74747                           MASK     TRACKBIT                              
021449,000695: 24,2537           00006                           EXTEND                                         
021450,000696: 24,2540           12636                           BZF      R22WAIT                               #  NO - WAIT
021451,000697: 24,2541           04616                           TC       BANKCALL                              #  YES
021452,000698: 24,2542           51333                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021453,000699: 24,2543           50154                           INDEX    MPAC                                  
021454,000700: 24,2544           02545                           TC       +1                                    
021455,000701: 24,2545           02551                           TC       R22LEM3                               #  NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021456,000702: 24,2546           04616                           TC       BANKCALL                              
021457,000703: 24,2547           46116                           CADR     R61LEM                                
021458,000704: 24,2550           02636                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
021459,000705: 24,2551           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
021460,000706: 24,2552           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)

Page 506

021462,000708: 24,2553           00006                           EXTEND                                         
021463,000709: 24,2554           12627                           BZF      R22LEM42                              #  BRANCH - YES
021464,000710: 24,2555           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
021465,000711: 24,2556           74745                           MASK     UPDATBIT                              
021466,000712: 24,2557           00006                           EXTEND                                         
021467,000713: 24,2560           12627                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
021468,000714: 24,2561           37714                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
021469,000715: 24,2562           55056                           TS       PHSPRDT2                              
021470,000716: 
021471,000717: 24,2563           06037                           TC       INTPRET                               
021472,000718: 24,2564           77650                           GOTO                                           
021473,000719: 24,2565           54412                                    LSR22.3                               
021474,000720: 24,2566           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
021475,000721: 24,2567           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
021476,000722: 24,2570           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
021477,000723: 24,2571           12622                           TCF      R22LEM44                              
021478,000724: 24,2572           77776        R22LEM96           EXIT                                           
021479,000725: 24,2573           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
021480,000726: 24,2574           55746                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
021481,000727: 24,2575           05353                           TC       PHASCHNG                              
021482,000728: 24,2576           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
021483,000729: 24,2577           37715                           CAF      PRIO27                                #  PROTECT DISPLAY
021484,000730: 24,2600           05072                           TC       NOVAC                                 
021485,000731: 24,2601  E7,1746                                  EBANK=   N49FLAG                               
021486,000732: 24,2601           02644 50067                     2CADR    N49DSP                                
021487,000733: 
021488,000734: 24,2603           06037                           TC       INTPRET                               
021489,000735: 24,2604           77735                           SLOAD                                          
021490,000736: 24,2605           03747                                    N49FLAG                               
021491,000737: 24,2606           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
021492,000738: 24,2607           50604                                    -3                                    #  SETTING CHANGED - BRANCH - NO
021493,000739: 24,2610           50616                                    R22LEM7                               #  PROCEED
021494,000740: 24,2611           77776                           EXIT                                           #  DISPLAY ANSWERED BY RECYCLE
021495,000741: 24,2612           02667                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021496,000742: 24,2613           02636                           TC       R22WAIT                               #  YES - 15 SECOND DELAY
021497,000743: 24,2614           34755                           CA       ZERO                                  #  NO - SET R65COUNTER = 0, DO FINE
021498,000744: 24,2615           02632                           TC       R22LEM45                              #  TRACKING TAKE ANOTHER RADAR READING
021499,000745: 24,2616           77624        R22LEM7            CALL                                           #  PROCEED
021500,000746: 24,2617           11244                                    GRP2PC                                #  PHASE CHANGE AND
021501,000747: 24,2620           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
021502,000748: 24,2621           55431                                    ASTOK                                 
021503,000749: 24,2622           25462        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
021504,000750: 24,2623           02667                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
021505,000751: 24,2624           02640                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021506,000752: 24,2625           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
021507,000753: 24,2626           02632                           TC       R22LEM45                              #  R65COUNTER = 5
021508,000754: 24,2627           02667        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021509,000755: 24,2630           02640                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
021510,000756: 24,2631           34752                           CA       TWO                                   #  NO - SET R65COUNTER = 2
021511,000757: 24,2632           55745        R22LEM45           TS       R65CNTR                               

Page 507

021513,000759: 24,2633           04616                           TC       BANKCALL                              
021514,000760: 24,2634           46123                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
021515,000761: 24,2635           02451                           TC       R22LEM                                
021516,000762: 24,2636           32666        R22WAIT            CAF      1500DEC                               
021517,000763: 24,2637           02233                           TC       P20LEMWT   +1                         
021518,000764: 
021519,000765: 24,2640           35000        R22LEM46           CAF      2SECS                                 
021520,000766: 24,2641           04616                           TC       BANKCALL                              #  WAIT 2 SECONDS AND TAKE ANOTHER MARK
021521,000767: 24,2642           01735                           CADR     DELAYJOB                              
021522,000768: 24,2643           02451                           TC       R22LEM                                
021523,000769: 
021524,000770: 24,2644           32665        N49DSP             CAF      V06N49NB                              
021525,000771: 24,2645           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
021526,000772: 24,2646           20507                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021527,000773: 24,2647           06022                           TC       GOTOV56                               #  TERMINATE - EXIT R22 AND P20
021528,000774: 24,2650           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
021529,000775: 24,2651           55746                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
021530,000776: 24,2652           05155                           TC       ENDOFJOB                              
021531,000777: 24,2653           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
021532,000778: 24,2654           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
021533,000779: 24,2655           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
021534,000780: 24,2656           53103                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
021535,000781: 24,2657           04616                           TC       BANKCALL                              #  BAD DATA
021536,000782: 24,2660           17714                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
021537,000783: 24,2661           02217                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
021538,000784: 24,2662           02451                           TC       R22LEM                                #  READ SUCCESSFUL - CONTINUE AT R22
021539,000785: 
021540,000786: 24,2663           00525        ALRM525            OCT      00525                                 
021541,000787: 24,2664           01405        V06N05             VN       00605                                 
021542,000788: 24,2665           01461        V06N49NB           VN       00649                                 
021543,000789: 24,2666           02734        1500DEC            DEC      1500       B-14                       
021544,000790: 
021545,000791:                                                                                                  #  LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021546,000792:                                                                                                  #        RETURNS TO CALLER +1 IF P22FLAG SET
021547,000793:                                                                                                  #                TO CALLER +2 IF P22FLAG NOT SET
021548,000794: 
021549,000795: 24,2667                                           COUNT*   $$/P22                                
021550,000796: 24,2667           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
021551,000797: 24,2670           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
021552,000798: 24,2671           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
021553,000799: 24,2672           24002                           INCR     Q                                     #  NOT SET
021554,000800: 24,2673           00002                           TC       Q                                     #  RETURN
021555,000801: 

Page 508

021557,000803:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
021558,000804:                                                                                                  #  PROGRAM DESCRIPTION
021559,000805: 
021560,000806:                                                                                                  #        MOD NO - 2
021561,000807:                                                                                                  #        BY P VOLANTE
021562,000808: 
021563,000809:                                                                                                  #  FUNCTIONAL DESCRIPTION
021564,000810: 
021565,000811:                                                                                                  #        TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021566,000812:                                                                                                  #        OF THE CSM IS ACCOMPLISHED BY THE RADAR.  ROUTINE IS CALLED BY P20.
021567,000813: 
021568,000814:                                                                                                  #  CALLING SEQUENCE -
021569,000815: 
021570,000816:                                                                                                  #        TC      BANKCALL
021571,000817:                                                                                                  #        CADR    R21LEM
021572,000818: 
021573,000819:                                                                                                  #  SUBROUTINES CALLED -
021574,000820: 
021575,000821:                                                                                                  #        FINDVAC         FLAGUP          ENDOFJOB        PRIOLARM
021576,000822:                                                                                                  #        NOVAC           INTPRET         LPS20.1         PHASCHNG
021577,000823:                                                                                                  #        WAITLIST        JOBSLEEP        JOBWAKE         FLAGDOWN
021578,000824:                                                                                                  #        TASKOVER        BANKCALL        RADSTALL        RRDESSM
021579,000825: 
021580,000826:                                                                                                  #  NORMAL EXIT MODES
021581,000827:                                                                                                  #        
021582,000828:                                                                                                  #        WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021583,000829:                                                                                                  #        WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021584,000830: 
021585,000831:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021586,000832: 
021587,000833:                                                                                                  #        PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021588,000834:                                                                                                  #        THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021589,000835:                                                                                                  #        ACQUISITION
021590,000836: 
021591,000837:                                                                                                  #  OUTPUT
021592,000838: 
021593,000839:                                                                                                  #        SEE LPS20.1, RRDESSM
021594,000840: 
021595,000841:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021596,000842: 
021597,000843:                                                                                                  #        RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021598,000844: 
021599,000845:                                                                                                  #  FLAGS SET + RESET
021600,000846: 
021601,000847:                                                                                                  #        LOSCMFLG        LOKONSW
021602,000848: 
021603,000849:                                                                                                  #  DEBRIS
021604,000850: 
021605,000851:                                                                                                  #        SEE LPS20.1, RRDESSM
021606,000852: 
021607,000853: 24,2674  E7,1456                                  EBANK=   LOSCOUNT                              
021608,000854: 24,2674                                           COUNT*   $$/R21                                
021609,000855: 24,2674           44736        R21LEM             CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
021610,000856: 24,2675           00006                           EXTEND                                         
021611,000857: 24,2676           03012                           WAND     CHAN12                                
021612,000858: 24,2677           02667                           TC       LUNSFCHK                              
021613,000859: 24,2700           02705                           TC       R21LEM5                               
021614,000860: 24,2701           34755                           CAF      ZERO                                  #  COMMAND ANTENNA TO MODE CENTER
021615,000861: 24,2702           55107                           TS       TANG                                  #  IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021616,000862: 24,2703           55110                           TS       TANG       +1                         
021617,000863: 24,2704           02715                           TC       R21LEM6                               
021618,000864: 24,2705           34740        R21LEM5            CAF      BIT12                                 
021619,000865: 24,2706           70110                           MASK     RADMODES                              
021620,000866: 24,2707           10000                           CCS      A                                     
021621,000867: 24,2710           02725                           TC       R21LEM10                              
021622,000868: 24,2711           34735                           CAF      BIT15                                 
021623,000869: 24,2712           55107                           TS       TANG                                  
021624,000870: 24,2713           44736                           CS       HALF                                  
021625,000871: 24,2714           55110                           TS       TANG       +1                         
021626,000872: 

Page 509

021628,000874: 24,2715           05516        R21LEM6            TC       DOWNFLAG                              
021629,000875: 24,2716           00012                           ADRES    LOKONSW                               
021630,000876: 24,2717           04616                           TC       BANKCALL                              
021631,000877: 24,2720           52475                           CADR     RRDESNB                               
021632,000878: 24,2721           02722                           TC       +1                                    
021633,000879: 24,2722           04616                           TC       BANKCALL                              
021634,000880: 24,2723           17714                           CADR     RADSTALL                              
021635,000881: 24,2724           02760                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE - ISSUE ALARM
021636,000882: 24,2725           05504        R21LEM10           TC       UPFLAG                                
021637,000883: 24,2726           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
021638,000884: 24,2727           32310                           CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECONDS)
021639,000885: 24,2730           55114                           TS       DESCOUNT                              #  TO DESIGNATE AND LOCK ON
021640,000886: 24,2731           36245        R21LEM2            CAF      THREE                                 
021641,000887: 24,2732           55456                           TS       LOSCOUNT                              
021642,000888: 24,2733           06037        R21LEM1            TC       INTPRET                               
021643,000889: 24,2734           43234                           RTB      DAD                                   
021644,000890: 24,2735           21573                                    LOADTIME                              
021645,000891: 24,2736           11120                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021646,000892: 24,2737           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
021647,000893: 24,2740           51255                                    LPS20.1                               
021648,000894: 24,2741           77776                           EXIT                                           
021649,000895: 24,2742           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR - ON DESIRED
021650,000896: 24,2743           00012                           ADRES    LOKONSW                               
021651,000897: 24,2744           05516                           TC       DOWNFLAG                              
021652,000898: 24,2745           00126                           ADRES    NORRMON                               
021653,000899: 24,2746           06037                           TC       INTPRET                               
021654,000900: 24,2747           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
021655,000901: 24,2750           52373                                    RRDESSM                               #  DESIGNATE ROUTINE
021656,000902: 24,2751           77776                           EXIT                                           
021657,000903: 24,2752           02777                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
021658,000904:                                                                                                  #  ON LUNAR SURFACE
021659,000905: 24,2753           02111                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
021660,000906: 24,2754           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
021661,000907: 24,2755           17714                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021662,000908: 24,2756           02760                           TC       +2                                    #  BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021663,000909: 24,2757           02767                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021664,000910: 24,2760           32775        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
021665,000911: 24,2761           04616                           TC       BANKCALL                              
021666,000912: 24,2762           21562                           CADR     PRIOLARM                              
021667,000913: 24,2763           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
021668,000914: 24,2764           02772                           TC       R21SRCH                               #  PROC
021669,000915: 24,2765           02211                           TC       P20LEMC3                              
021670,000916: 24,2766           05155                           TC       ENDOFJOB                              
021671,000917: 24,2767           05516        R21END             TC       DOWNFLAG                              
021672,000918: 24,2770           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
021673,000919: 24,2771           03121                           TC       R21DISP                               #  PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021674,000920: 24,2772           05353        R21SRCH            TC       PHASCHNG                              
021675,000921: 24,2773           04022                           OCT      04022                                 
021676,000922: 24,2774           03206                           TC       R24LEM                                #  SEARCH ROUTINE
021677,000923: 24,2775           00503        ALRM503            OCT      00503                                 

Page 510

021679,000925: 24,2776           00527        ALRM527            OCT      527                                   
021680,000926: 
021681,000927: 24,2777           32310        R21LEM4            CAF      MAXTRIES                              #  SET UP COUNTER FOR
021682,000928: 24,3000           55423                           TS       REPOSCNT                              #  60 PASSES (APPROX 600 SECS.)
021683,000929: 24,3001           05504                           TC       UPFLAG                                
021684,000930: 24,3002           00005                           ADRES    FSPASFLG                              #  SET FIRST PASS FLAG
021685,000931: 24,3003           05516                           TC       DOWNFLAG                              #  RESET LOS BEING
021686,000932: 24,3004           00041                           ADRES    LOSCMFLG                              #  COMPUTED FLAG
021687,000933: 24,3005           06037                           TC       INTPRET                               
021688,000934: 24,3006           77634        R21LEM12           RTB                                            
021689,000935: 24,3007           21573                                    LOADTIME                              
021690,000936: 24,3010           77615                           DAD                                            
021691,000937: 24,3011           11116                                    TENSEC                                #  TIME T = T + 10 SECS.
021692,000938: 24,3012           03425                           STORE    REPOSTM                               #  SAVE FOR LONGCALL AND UPPSV
021693,000939: 24,3013           34041                           STCALL   TDEC1                                 
021694,000940: 24,3014           51255                                    LPS20.1                               #  COMPUTE LOS AT TIME T
021695,000941: 24,3015           77624                           CALL                                           
021696,000942: 24,3016           52373                                    RRDESSM                               
021697,000943: 24,3017           77776                           EXIT                                           
021698,000944: 24,3020           03033                           TC       R21LEM13                              #  LOS NOT IN MODE 2 COVERAGE
021699,000945: 24,3021           05155                           TC       ENDOFJOB                              #  VEHICLE MANEUVER REQUIRED
021700,000946: 24,3022           06027                           TC       KILLTASK                              
021701,000947: 24,3023           52573                           CADR     BEGDES                                
021702,000948: 24,3024           06037                           TC       INTPRET                               
021703,000949: 24,3025           77614                           BOF                                            
021704,000950: 24,3026           00345                                    FSPASFLG                              #  FIRST PASS THRU REPOSITION
021705,000951: 24,3027           51043                                    R21LEMB                               #  NO - GO TO CONTINUOUS DESIGNATE
021706,000952: 24,3030           77614                           CLRGO                                          
021707,000953: 24,3031           00225                                    FSPASFLG                              #  YES - RESET FIRST PASS FLAG
021708,000954: 24,3032           51037                                    R21LEM7    +1                         
021709,000955: 24,3033           11423        R21LEM13           CCS      REPOSCNT                              #  HAVE WE TRIED 60 TIMES?
021710,000956: 24,3034           03036                           TC       R21LEM7                               #  NO - ADD 10 SECS.  RECOMPUTE LOS
021711,000957: 24,3035           03105                           TC       R21LEM11                              #  YES - PUT OUT ALARM 530
021712,000958: 24,3036           55423        R21LEM7            TS       REPOSCNT                              
021713,000959: 24,3037           06037                           TC       INTPRET                               
021714,000960: 24,3040           52145                           DLOAD    GOTO                                  
021715,000961: 24,3041           03425                                    REPOSTM                               
021716,000962: 24,3042           51010                                    R21LEM12   +2                         
021717,000963: 24,3043           77745        R21LEMB            DLOAD                                          
021718,000964: 24,3044           03425                                    REPOSTM                               
021719,000965: 24,3045           34041                           STCALL   TDEC1                                 
021720,000966: 24,3046           50316                                    UPPSV                                 
021721,000967: 24,3047           77776                           EXIT                                           
021722,000968: 24,3050           05504                           TC       UPFLAG                                #  SET RADMODES BIT 15 FOR
021723,000969: 24,3051           00264                           ADRES    CDESFLAG                              #  CONTINUOUS DESIGNATION
021724,000970: 24,3052           05516                           TC       DOWNFLAG                              
021725,000971: 24,3053           00012                           ADRES    LOKONSW                               
021726,000972: 24,3054           05504                           TC       UPFLAG                                
021727,000973: 24,3055           00126                           ADRES    NORRMON                               

Page 511

021729,000975: 24,3056           04616                           TC       BANKCALL                              
021730,000976: 24,3057           52475                           CADR     RRDESNB                               
021731,000977: 24,3060           03061                           TC       +1                                    
021732,000978: 24,3061           06037                           TC       INTPRET                               
021733,000979: 24,3062           44234                           RTB      BDSU                                  
021734,000980: 24,3063           21573                                    LOADTIME                              #  COMPUTE DELTA TIME
021735,000981: 24,3064           03425                                    REPOSTM                               #  FOR LONGCALL
021736,000982: 24,3065           03427                           STORE    DELTATM                               
021737,000983: 24,3066           77776                           EXIT                                           
021738,000984: 24,3067           00006                           EXTEND                                         
021739,000985: 24,3070           31427                           DCA      DELTATM                               
021740,000986: 24,3071           05277                           TC       LONGCALL                              
021741,000987: 24,3072  E7,1456                                  EBANK=   LOSCOUNT                              
021742,000988: 24,3072           03075 50067                     2CADR    R21LEM9                               
021743,000989: 
021744,000990: 24,3074           05155                           TC       ENDOFJOB                              
021745,000991: 24,3075           06027        R21LEM9            TC       KILLTASK                              
021746,000992: 24,3076           52602                           CADR     STDESIG                               
021747,000993: 24,3077           06011                           TC       CLRADMOD                              
021748,000994: 24,3100           37714                           CAF      PRIO26                                
021749,000995: 24,3101           05105                           TC       FINDVAC                               
021750,000996: 24,3102  E7,1456                                  EBANK=   LOSCOUNT                              
021751,000997: 24,3102           02725 50067                     2CADR    R21LEM10                              
021752,000998: 
021753,000999: 24,3104           05261                           TC       TASKOVER                              
021754,001000: 24,3105           33114        R21LEM11           CAF      ALRM530                               #  ALARM 530 - LOS NOT IN COVERAGE
021755,001001: 24,3106           04616                           TC       BANKCALL                              #  AFTER TRYING TO DESIGNATE FOR
021756,001002: 24,3107           21562                           CADR     PRIOLARM                              #  600 SECS.
021757,001003: 24,3110           06022                           TC       GOTOV56                               
021758,001004: 24,3111           06022                           TC       GOTOV56                               
021759,001005: 24,3112           06022                           TC       GOTOV56                               
021760,001006: 24,3113           05155                           TC       ENDOFJOB                              
021761,001007: 24,3114           00530        ALRM530            OCT      00530                                 
021762,001008: 24,3115           00000 01750  TENSEC             2DEC     1000       B-28                       
021763,001009: 
021764,001010: 24,3117           00000 00062  HALFSEC            2DEC     50         B-28                       
021765,001011: 
021766,001012: 24,3121           05353        R21DISP            TC       PHASCHNG                              
021767,001013: 24,3122           04022                           OCT      04022                                 
021768,001014: 24,3123           33134                           CAF      V06N72PV                              #  FLASH V 50 N 72 - PLEASE PERFORM RR
021769,001015: 24,3124           04616                           TC       BANKCALL                              #  MAIN LOBE LOCKON VERIFICATION
021770,001016: 24,3125           20710                           CADR     GOPERF2R                              
021771,001017: 24,3126           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V 56
021772,001018: 24,3127           02232                           TC       P20LEMWT                              #  PROCEED CONTINUES TO R22
021773,001019: 24,3130           03123                           TC       -5                                    #  ENTER ILLEGAL
021774,001020: 24,3131           34745                           CAF      BIT7                                  
021775,001021: 24,3132           05464                           TC       LINUS                                 #  SET BITS TO MAKE THIS A PRIORITY DISPLAY
021776,001022: 24,3133           05155                           TC       ENDOFJOB                              
021777,001023: 

Page 512

021779,001025: 24,3134           01510        V06N72PV           VN       00672                                 
021780,001026: 

Page 513

021782,001028:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
021783,001029:                                                                                                  #  PROGRAM DESCRIPTION
021784,001030: 
021785,001031:                                                                                                  #        MOD NO - 2
021786,001032:                                                                                                  #        BY P VOLANTE
021787,001033: 
021788,001034:                                                                                                  #  FUNCTIONAL DESCRIPTION
021789,001035: 
021790,001036:                                                                                                  #        TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
021791,001037: 
021792,001038:                                                                                                  #  CALLING SEQUENCE -
021793,001039: 
021794,001040:                                                                                                  #        TC      R23LEM
021795,001041: 
021796,001042:                                                                                                  #  SUBROUTINES CALLED
021797,001043: 
021798,001044:                                                                                                  #        BANKCALL        R61LEM
021799,001045:                                                                                                  #        SETMINDB        GOPERF1
021800,001046: 
021801,001047:                                                                                                  #  NORMAL EXIT MODES -
021802,001048: 
021803,001049:                                                                                                  #        IN RESPONSE TO THE GOPERF1      ,SELECTION OF ENTER WILL RECYCLE R23
021804,001050:                                                                                                  #                                        ,SELECTION OF PROC WILL CONTINUE R23
021805,001051:                                                                                                  #                                        ,SELECTION OF TERM WILL TERMINATE R23 +P20
021806,001052: 
021807,001053:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021808,001054: 
021809,001055:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
021810,001056: 
021811,001057:                                                                                                  #  OUTPUT
021812,001058: 
021813,001059:                                                                                                  #        N.A.
021814,001060: 
021815,001061:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
021816,001062: 
021817,001063:                                                                                                  #        ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
021818,001064: 
021819,001065: 24,3135     1143                                  EBANK=   GENRET                                
021820,001066: 24,3135                                           COUNT*   $$/R23                                
021821,001067: 24,3135           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
021822,001068: 24,3136           00126                           ADRES    NORRMON                               
021823,001069: 24,3137           00004                           INHINT                                         
021824,001070: 24,3140           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
021825,001071: 24,3141           40140                           CADR     SETMINDB                              
021826,001072: 24,3142           00003                           RELINT                                         
021827,001073: 24,3143           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
021828,001074: 24,3144           00006                           EXTEND                                         
021829,001075: 24,3145           05012                           WOR      CHAN12                                
021830,001076: 24,3146           33205                           CAF      OCT205                                
021831,001077: 24,3147           04616                           TC       BANKCALL                              
021832,001078: 24,3150           20623                           CADR     GOPERF1                               
021833,001079: 24,3151           03176                           TC       R23LEM2                               #  TERMINATE
021834,001080: 24,3152           03154                           TC       R23LEM11                              #  PROCEDE
021835,001081: 24,3153           03201                           TC       R23LEM3                               #  ENTER - DO ANOTHER MANUVER
021836,001082: 24,3154           00004        R23LEM11           INHINT                                         
021837,001083: 24,3155           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
021838,001084: 24,3156           00035                           ADRES    CDUT                                  
021839,001085: 24,3157           03166                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
021840,001086: 24,3160           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
021841,001087: 24,3161           40123                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
021842,001088: 24,3162           00003                           RELINT                                         
021843,001089: 24,3163           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
021844,001090: 24,3164           00126                           ADRES    NORRMON                               
021845,001091: 24,3165           02163                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
021846,001092: 24,3166           00003        OUTOFLIM           RELINT                                         

Page 514

021848,001094: 24,3167           33204                           CAF      OCT501PV                              
021849,001095: 24,3170           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
021850,001096: 24,3171           21562                           CADR     PRIOLARM                              #  LIMITS
021851,001097: 24,3172           03176                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
021852,001098: 24,3173           03167                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
021853,001099: 24,3174           03201                           TC       R23LEM3                               #  RECYCLE - DO ANOTHER MANUVER
021854,001100: 24,3175           05155                           TC       ENDOFJOB                              
021855,001101: 24,3176           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
021856,001102: 24,3177           00126                           ADRES    NORRMON                               
021857,001103: 24,3200           06022                           TC       GOTOV56                               #  AND EXIT VIA V56
021858,001104: 24,3201           04616        R23LEM3            TC       BANKCALL                              
021859,001105: 24,3202           46116                           CADR     R61LEM                                
021860,001106: 24,3203           03143                           TC       R23LEM1                               
021861,001107: 
021862,001108: 24,3204           00501        OCT501PV           OCT      501                                   
021863,001109: 24,3205           00205        OCT205             OCT      205                                   
021864,001110: 

Page 515

021866,001112:                                                                                                  #  SEARCH ROUTINE R24LEM
021867,001113:                                                                                                  #  PROGRAM DESCRIPTION
021868,001114: 
021869,001115:                                                                                                  #        MOD NO - 2
021870,001116:                                                                                                  #        BY P. VOLANTE
021871,001117: 
021872,001118:                                                                                                  #  FUNCTIONAL DESCRIPTION
021873,001119: 
021874,001120:                                                                                                  #        TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
021875,001121:                                                                                                  #        FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
021876,001122:                                                                                                  #        THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
021877,001123: 
021878,001124:                                                                                                  #  CALLING SEQUENCE
021879,001125: 
021880,001126:                                                                                                  #        CAF     PRIONN
021881,001127:                                                                                                  #        TC      FINDVAC
021882,001128:                                                                                                  #        EBANK=  DATAGOOD
021883,001129:                                                                                                  #        2CADR   R24LEM
021884,001130: 
021885,001131:                                                                                                  #  SUBROUTINES CALLED
021886,001132: 
021887,001133:                                                                                                  #        FLAGUP          FLAGDOWN        BANKCALL
021888,001134:                                                                                                  #        R61LEM          GOFLASHR        FINDVAC
021889,001135:                                                                                                  #        ENDOFJOB        NOVAC           LSR24.1
021890,001136: 
021891,001137:                                                                                                  #  NORMAL EXIT MODES -
021892,001138: 
021893,001139:                                                                                                  #        ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.  HE CAN EITHER
021894,001140:                                                                                                  #        REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
021895,001141:                                                                                                  #        PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
021896,001142: 
021897,001143:                                                                                                  #  ALARM OR ABORT EXIT MODES -
021898,001144: 
021899,001145:                                                                                                  #        SEE NORMAL EXIT MODES ABOVE
021900,001146: 
021901,001147:                                                                                                  #  OUTPUT -
021902,001148: 
021903,001149:                                                                                                  #        SEE OUTPUT FROM LSR24.1 + R61LEM
021904,001150: 
021905,001151:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021906,001152: 
021907,001153:                                                                                                  #        SEE INPUT FOR LSR24.1
021908,001154: 
021909,001155:                                                                                                  #  FLAGS SET + RESET
021910,001156: 
021911,001157:                                                                                                  #        SRCHOPT, ACMODFLG
021912,001158: 
021913,001159: 24,3206  E7,1733                                  EBANK=   DATAGOOD                              
021914,001160: 24,3206                                           COUNT*   $$/R24                                
021915,001161: 24,3206           05504        R24LEM             TC       UPFLAG                                
021916,001162: 24,3207           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
021917,001163: 24,3210           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
021918,001164: 24,3211           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
021919,001165: 24,3212           34755        R24LEM1            CAF      ZERO                                  
021920,001166: 24,3213           55733                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
021921,001167: 24,3214           55734                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
021922,001168: 24,3215           55735                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
021923,001169: 24,3216           05353        R24LEM2            TC       PHASCHNG                              
021924,001170: 24,3217           04022                           OCT      04022                                 
021925,001171: 24,3220           33254                           CAF      V16N80                                
021926,001172: 24,3221           04616                           TC       BANKCALL                              
021927,001173: 24,3222           20504                           CADR     PRIODSPR                              
021928,001174: 24,3223           06022                           TC       GOTOV56                               
021929,001175: 24,3224           03230                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
021930,001176: 
021931,001177: 24,3225           03234                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C

Page 516

021933,001179: 24,3226           04616                           TC       BANKCALL                              
021934,001180: 24,3227           55442                           CADR     LRS24.1                               
021935,001181: 24,3230           06027        R24END             TC       KILLTASK                              
021936,001182: 24,3231           55643                           CADR     CALLDGCH                              
021937,001183: 24,3232           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
021938,001184: 24,3233           12063                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
021939,001185: 
021940,001186:    6011                                           BLOCK    3                                     
021941,001187:    6000                                           SETLOC   FFTAG6                                
021942,001188:    6000                                           BANK                                           
021943,001189:    6011                                           COUNT*   $$/R24                                
021944,001190: 
021945,001191:    6011           46021        CLRADMOD           CS       BIT10+15                              
021946,001192:    6012           00004                           INHINT                                         
021947,001193:    6013           70110                           MASK     RADMODES                              
021948,001194:    6014           54110                           TS       RADMODES                              
021949,001195:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
021950,001196:    6016           00006                           EXTEND                                         
021951,001197:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
021952,001198: 
021953,001199:    6020           00002                           TC       Q                                     
021954,001200: 
021955,001201:    6021           41000        BIT10+15           OCT      41000                                 
021956,001202: 24,3234                                           BANK     24                                    
021957,001203: 24,2000                                           SETLOC   P20S                                  
021958,001204: 24,2000                                           BANK                                           
021959,001205: 24,3234                                           COUNT*   $$/R24                                
021960,001206: 
021961,001207: 24,3234           05353        R24LEM3            TC       PHASCHNG                              
021962,001208: 24,3235           04022                           OCT      04022                                 
021963,001209: 24,3236           06027                           TC       KILLTASK                              
021964,001210: 24,3237           55643                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
021965,001211: 24,3240           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES TO KILL
021966,001212: 24,3241           00003                           RELINT                                         #  HALF SECOND DESIGNATE LOOP
021967,001213: 24,3242           34774                           CAF      .5SEC                                 
021968,001214: 24,3243           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
021969,001215: 24,3244           01735                           CADR     DELAYJOB                              
021970,001216: 24,3245           02667                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
021971,001217: 24,3246           03251                           TC       R24LEM4                               #  YES - DONT DO ATTITUDE MANEUVER
021972,001218: 24,3247           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
021973,001219: 24,3250           46116                           CADR     R61LEM                                #  ATTITUDE MANEUVER
021974,001220: 24,3251           34755        R24LEM4            CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
021975,001221: 24,3252           55306                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
021976,001222:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
021977,001223: 24,3253           03216                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
021978,001224: 
021979,001225: 24,3254           04120        V16N80             VN       01680                                 
021980,001226: 

Page 517

021982,001228:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
021983,001229:                                                                                                  #  PROGRAM DESCRIPTION
021984,001230: 
021985,001231:                                                                                                  #        MOD NO: 3               DATE: 4-11-67
021986,001232:                                                                                                  #        MOD BY: P VOLANTE   SDC
021987,001233: 
021988,001234:                                                                                                  #  FUNCTIONAL DESCRIPTION -
021989,001235: 
021990,001236:                                                                                                  #        TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
021991,001237:                                                                                                  #        TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
021992,001238:                                                                                                  #        ATTITUDE.
021993,001239: 
021994,001240:                                                                                                  #  CALLING SEQUENCE -
021995,001241: 
021996,001242:                                                                                                  #        TC      BANKCALL
021997,001243:                                                                                                  #        CADR    R61LEM
021998,001244: 
021999,001245:                                                                                                  #  SUBROUTINES CALLED
022000,001246: 
022001,001247:                                                                                                  #        LPS20.1         VECPOINT
022002,001248:                                                                                                  #        KALCMAN3
022003,001249: 
022004,001250:                                                                                                  #  NORMAL EXIT MODES -
022005,001251: 
022006,001252:                                                                                                  #        NORMAL RETURN IS TO CALLER + 1
022007,001253: 
022008,001254:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022009,001255: 
022010,001256:                                                                                                  #        TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022011,001257:                                                                                                  #        RENDEZVOUS FLAG ARE NOT SET.
022012,001258: 
022013,001259:                                                                                                  #  OUTPUT -
022014,001260: 
022015,001261:                                                                                                  #        SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022016,001262: 
022017,001263:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022018,001264: 
022019,001265:                                                                                                  #        GENRET USED TO SAVE Q FOR RETURN
022020,001266: 
022021,001267:                                                                                                  #  FLAGS SET + RESET
022022,001268: 
022023,001269:                                                                                                  #        3AXISFLG
022024,001270: 
022025,001271:                                                                                                  #  DEBRIS
022026,001272: 
022027,001273:                                                                                                  #        SEE SUBROUTINES
022028,001274: 
022029,001275: 23,2000                                           SETLOC   R61                                   
022030,001276: 23,2000                                           BANK                                           
022031,001277: 23,2116  E7,1456                                  EBANK=   LOSCOUNT                              
022032,001278: 23,2116                                           COUNT*   $$/R61                                
022033,001279: 23,2116           04645        R61LEM             TC       MAKECADR                              
022034,001280: 23,2117           55143                           TS       GENRET                                
022035,001281: 23,2120           05504                           TC       UPFLAG                                #  SET R61 FLAG
022036,001282: 23,2121           00024                           ADRES    R61FLAG                               
022037,001283: 23,2122           02127                           TC       R61C+L01                              
022038,001284: 23,2123           04645        R65LEM             TC       MAKECADR                              
022039,001285: 23,2124           55143                           TS       GENRET                                
022040,001286: 23,2125           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
022041,001287: 23,2126           00024                           ADRES    R61FLAG                               
022042,001288: 23,2127           34747        R61C+L01           CAF      TRACKBIT                              #  TRACKFLAG
022043,001289: 23,2130           70075                           MASK     STATE      +1                         
022044,001290: 23,2131           00006                           EXTEND                                         
022045,001291: 23,2132           12271                           BZF      R65WAIT                               #  NOT SET
022046,001292: 23,2133           06037        R61C+L03           TC       INTPRET                               
022047,001293: 23,2134           77775                           VLOAD                                          

Page 518

022049,001295: 23,2135           06514                                    HIUNITZ                               
022050,001296: 23,2136           03765                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
022051,001297: 23,2137           43234        R61LEM1            RTB      DAD                                   
022052,001298: 23,2140           21573                                    LOADTIME                              #  EXTRAPOLATE FORWARD TO CENTER
022053,001299: 23,2141           15712                                    3SECONDS                              #  SIX SECOND PERIOD.
022054,001300: 23,2142           34041                           STCALL   TDEC1                                 
022055,001301: 23,2143           51255                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
022056,001302: 23,2144           77775                           VLOAD                                          
022057,001303: 23,2145           01102                                    RRTARGET                              
022058,001304: 23,2146           03773                           STORE    POINTVSM                              
022059,001305: 23,2147           45034                           RTB      CALL                                  #  GET DESIRED CDU'S FOR VECPNT1
022060,001306: 23,2150           46277                                    READCDUD                              
022061,001307: 23,2151           56032                                    VECPNT1                               #  COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022062,001308: 23,2152           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022063,001309: 23,2153           77776                           EXIT                                           
022064,001310: 23,2154           05353                           TC       PHASCHNG                              
022065,001311: 23,2155           04022                           OCT      04022                                 
022066,001312: 23,2156           34747                           CAF      TRACKBIT                              #  IS TRACK FLAG SET
022067,001313: 23,2157           70075                           MASK     FLAGWRD1                              
022068,001314: 23,2160           00006                           EXTEND                                         
022069,001315: 23,2161           12271                           BZF      R65WAIT                               
022070,001316: 23,2162           04616                           TC       BANKCALL                              
022071,001317: 23,2163           54255                           CADR     G+N,AUTO                              #  CHECK FOR AUTO MODE
022072,001318: 23,2164           10000                           CCS      A                                     
022073,001319: 23,2165           02257                           TC       R61C+L04                              #  NOT IN AUTO
022074,001320: 23,2166           06037                           TC       INTPRET                               
022075,001321: 23,2167           45175                           VLOAD    CALL                                  
022076,001322: 23,2170           01102                                    RRTARGET                              
022077,001323: 23,2171           47646                                    CDU*SMNB                              
022078,001324: 23,2172           45345                           DLOAD    DSU                                   #  GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022079,001325: 23,2173           00162                                    MPAC       +5                         
022080,001326: 23,2174           06275                                    COS15DEG                              
022081,001327: 23,2175           77440        R61LEM2            BMN      EXIT                                  #  BRANCH - PHI > 15 DEGREES
022082,001328: 23,2176           46213                                    R61C+L05                              #  PHI GRE 10DEG
022083,001329: 23,2177  E6,1635                                  EBANK=   CDUXD                                 
022084,001330: 23,2177           35015                           CAF      EBANK6                                
022085,001331: 23,2200           54003                           TS       EBANK                                 
022086,001332: 23,2201           00004                           INHINT                                         
022087,001333: 23,2202           00006                           EXTEND                                         
022088,001334: 23,2203           30322                           DCA      CPHI                                  
022089,001335: 23,2204           53636                           DXCH     CDUXD                                 
022090,001336: 23,2205           30323                           CA       CPSI                                  
022091,001337: 23,2206           55637                           TS       CDUZD                                 
022092,001338: 23,2207           00003                           RELINT                                         
022093,001339: 23,2210  E7,1456                                  EBANK=   LOSCOUNT                              
022094,001340: 23,2210           35016                           CAF      EBANK7                                
022095,001341: 23,2211           54003                           TS       EBANK                                 
022096,001342: 23,2212           02236                           TC       R61C+L06                              
022097,001343: 23,2213           77776        R61C+L05           EXIT                                           
022098,001344: 23,2214           00004                           INHINT                                         

Page 519

022100,001346: 23,2215           04674                           TC       IBNKCALL                              
022101,001347: 23,2216           40153                           FCADR    ZATTEROR                              
022102,001348: 23,2217           04674                           TC       IBNKCALL                              
022103,001349: 23,2220           40140                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
022104,001350: 23,2221           05516                           TC       DOWNFLAG                              
022105,001351: 23,2222           00124                           ADRES    3AXISFLG                              
022106,001352: 23,2223           05504                           TC       UPFLAG                                
022107,001353: 23,2224           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
022108,001354: 23,2225           04616                           TC       BANKCALL                              
022109,001355: 23,2226           54123                           CADR     R60LEM                                
022110,001356: 23,2227           00004                           INHINT                                         
022111,001357: 23,2230           04674                           TC       IBNKCALL                              
022112,001358: 23,2231           40123                           FCADR    RESTORDB                              
022113,001359: 23,2232           05353                           TC       PHASCHNG                              
022114,001360: 23,2233           04022                           OCT      04022                                 
022115,001361: 23,2234           05516                           TC       DOWNFLAG                              
022116,001362: 23,2235           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
022117,001363: 23,2236           30075        R61C+L06           CA       FLAGWRD1                              
022118,001364: 23,2237           74742                           MASK     R61FLBIT                              
022119,001365: 23,2240           10000                           CCS      A                                     
022120,001366: 23,2241           02262                           TC       R61C+L4                               
022121,001367: 23,2242           11745                           CCS      R65CNTR                               
022122,001368: 23,2243           02245                           TC       +2                                    
022123,001369: 23,2244           02262                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
022124,001370: 23,2245           55745                           TS       R65CNTR                               
022125,001371: 23,2246           32276                           CAF      06SEC                                 
022126,001372: 23,2247           05173                           TC       TWIDDLE                               
022127,001373: 23,2250           02252                           ADRES    R61C+L2                               
022128,001374: 23,2251           05155                           TC       ENDOFJOB                              
022129,001375: 23,2252           37714        R61C+L2            CAF      PRIO26                                
022130,001376: 23,2253           05105                           TC       FINDVAC                               
022131,001377: 23,2254  E7,1456                                  EBANK=   LOSCOUNT                              
022132,001378: 23,2254           02127 46067                     2CADR    R61C+L01                              
022133,001379: 
022134,001380: 23,2256           05261                           TC       TASKOVER                              
022135,001381: 23,2257           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
022136,001382: 23,2260           54266                           CADR     BALLANGS                              
022137,001383: 23,2261           02236                           TC       R61C+L06                              
022138,001384: 23,2262           31143        R61C+L4            CAE      GENRET                                
022139,001385: 23,2263           14640                           TCF      BANKJUMP                              #  EXIT R61
022140,001386: 23,2264           32273        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
022141,001387: 23,2265           70074                           MASK     STATE                                 
022142,001388: 23,2266           00006                           EXTEND                                         
022143,001389: 23,2267           15155                           BZF      ENDOFJOB                              #  NO - EXIT ROUTINE AND PROGRAM.
022144,001390: 23,2270           02236                           TC       R61C+L06                              #  YES EXIT ROUTINE
022145,001391: 23,2271           04635        R65WAIT            TC       POSTJUMP                              
022146,001392: 23,2272           50232                           CADR     P20LEMWT                              
022147,001393: 
022148,001394: 23,2273           00500        BIT7+9PV           OCT      00500                                 

Page 520

022150,001396: 23,2274           17350 34602  COS15DEG           2DEC     0.96593    B-1                        
022151,001397: 
022152,001398: 23,2276           01130        06SEC              DEC      600        B-14                       
022153,001399: 23,2277                        PHI                EQUALS   20D                                   
022154,001400: 23,2277           00004        READCDUD           INHINT                                         #  READS DESIRED CDU'S AND STORES IN
022155,001401: 23,2300           35015                           CAF      EBANK6                                #  MPAC TP EXITS WITH MODE SET TO TP
022156,001402: 23,2301           56003                           XCH      EBANK                                 
022157,001403: 23,2302           54070                           TS       RUPTREG1                              
022158,001404: 23,2303  E6,1635                                  EBANK=   CDUXD                                 
022159,001405: 23,2303           31635                           CA       CDUXD                                 
022160,001406: 23,2304           54154                           TS       MPAC                                  
022161,001407: 23,2305           00006                           EXTEND                                         
022162,001408: 23,2306           31637                           DCA      CDUYD                                 
022163,001409: 23,2307           52156                           DXCH     MPAC       +1                         
022164,001410: 23,2310           30070                           CA       RUPTREG1                              
022165,001411: 23,2311           54003                           TS       EBANK                                 
022166,001412: 23,2312           00003                           RELINT                                         
022167,001413: 23,2313           16477                           TCF      TMODE                                 
022168,001414:    4512                                           BLOCK    02                                    
022169,001415:    4000                                           SETLOC   RADARFF                               
022170,001416:    4000                                           BANK                                           
022171,001417: 
022172,001418:    4512  E7,1456                                  EBANK=   LOSCOUNT                              
022173,001419:    4512                                           COUNT*   $$/RRSUB                              
022174,001420: 

Page 521

022176,001422:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022177,001423:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1.  OTHERWISE IT RETURNS TO CALLER +3.  MAY BE CALLED IN RUPT OR UNDER EXEC.
022178,001424: 
022179,001425:    4512           00006        MAGSUB             EXTEND                                         
022180,001426:    4513           64515                           BZMF     +2                                    
022181,001427:    4514           14516                           TCF      +2                                    
022182,001428:    4515           40000                           COM                                            
022183,001429: 
022184,001430:    4516           50002                           INDEX    Q                                     
022185,001431:    4517           60000                           AD       0                                     
022186,001432:    4520           00006                           EXTEND                                         
022187,001433:    4521           66741                           BZMF     Q+2                                   #  ABS(A) <= CONST GO TO L+3
022188,001434:    4522           16737                           TCF      Q+1                                   #  ABS(A) > CONST GO TO L+2
022189,001435: 

Page 522

022191,001437:                                                                                                  #  PROGRAM NAME_ RRLIMCHK                                                        ARE IN THE LIMITS OF THE CURRENT MODE.
022192,001438: 
022193,001439:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022194,001440: 
022195,001441:                                                                                                  #        RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022196,001442:                                                                                                  #        THE LIMITS OF THE CURRENT MODE.  INITIALLY THE DESIRED TRUNNION AND
022197,001443:                                                                                                  #        SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2.  THE CURRENT RR
022198,001444:                                                                                                  #        ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022199,001445:                                                                                                  #        MODE 1 AND =1 FOR MODE 2.
022200,001446: 
022201,001447:                                                                                                  #        MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022202,001448:                                                                                                  #        BETWEEN -55 AND +55 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN LIMITS,
022203,001449:                                                                                                  #        THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022204,001450:                                                                                                  #        IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN TO L +3.
022205,001451: 
022206,001452:                                                                                                  #        MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022207,001453:                                                                                                  #        BETWEEN -139 AND -25 DEGREES.  IF NOT, RETURN TO L +2.  IF WITHIN
022208,001454:                                                                                                  #        LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022209,001455:                                                                                                  #        AND -125 (+235) DEGREES.  IF NOT, RETURN TO L +2.  IF IN LIMITS, RETURN
022210,001456:                                                                                                  #        TO L +3.
022211,001457: 
022212,001458:                                                                                                  #  CALLING SEQUENCE:
022213,001459: 
022214,001460:                                                                                                  #        L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
022215,001461:                                                                                                  #        L  +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
022216,001462: 
022217,001463:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022218,001464: 
022219,001465:                                                                                                  #        RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022220,001466:                                                                                                  #        ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022221,001467:                                                                                                  #        CURRENT EBANK).
022222,001468: 
022223,001469:                                                                                                  #  SUBROUTINES CALLED_   MAGSUB
022224,001470: 
022225,001471:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022226,001472: 
022227,001473:                                                                                                  #  ALARMS_  NONE
022228,001474: 
022229,001475:                                                                                                  #  EXIT_         L + 2   (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022230,001476:                                                                                                  #                L + 3   (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022231,001477: 
022232,001478:    4523           00006        RRLIMCHK           EXTEND                                         
022233,001479:    4524           50002                           INDEX    Q                                     
022234,001480:    4525           50000                           INDEX    0                                     
022235,001481:    4526           30001                           DCA      0                                     
022236,001482:    4527           24002                           INCR     Q                                     
022237,001483:    4530           52062                           DXCH     ITEMP1                                
022238,001484:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
022239,001485: 
022240,001486:    4532           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
022241,001487:    4533           70110                           MASK     RADMODES                              
022242,001488:    4534           10000                           CCS      A                                     
022243,001489:    4535           14550                           TCF      MODE2CHK                              
022244,001490: 
022245,001491:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS

Page 523

022247,001493:    4537           04512                           TC       MAGSUB                                #        1. ABS(T) L 55 DEGS.
022248,001494:    4540           66161                           DEC      -.30555                               #        2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022249,001495:    4541           00001                           TC       L                                     #                (SHAFT LIMITS AT +59, -70 DEGS)
022250,001496: 
022251,001497:    4542           34562                           CAF      5.5DEGS                               
022252,001498:    4543           60062                           AD       ITEMP2                                #  S
022253,001499:    4544           04512                           TC       MAGSUB                                
022254,001500:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
022255,001501:    4546           00001                           TC       L                                     
022256,001502:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
022257,001503: 
022258,001504:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
022259,001505:    4551           60062                           AD       ITEMP2                                #        1. ABS(T) G 125 DEGS.
022260,001506:    4552           04512                           TC       MAGSUB                                #        2. ABS(S + 82 DEGS) L 57 DEGS
022261,001507:    4553           65673                           DEC      -.31667                               #                (SHAFT LIMITS AT -25, -139 DEGS)
022262,001508:    4554           00001                           TC       L                                     
022263,001509: 
022264,001510:    4555           30061                           CA       ITEMP1                                
022265,001511:    4556           04512                           TC       MAGSUB                                
022266,001512:    4557           51615                           DEC      -.69444                               #  125 DEGS
022267,001513: 
022268,001514:    4560           50001        RRLIMOK            INDEX    L                                     
022269,001515:    4561           00001                           TC       L                                     #  ( = TC 1 )
022270,001516: 
022271,001517:    4562           00765        5.5DEGS            DEC      .03056                                
022272,001518:    4563           16450        82DEGS             DEC      .45556                                
022273,001519: 

Page 524

022275,001521:                                                                                                  #  PROGRAM NAME_ SETTRKF                                                         . IF EITHER:
022276,001522: 
022277,001523:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022278,001524:                                                                                                  #        SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.                      HER THE ALT OR VEL INFORMATION.
022279,001525:                                                                                                  #        INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022280,001526:                                                                                                  #        IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022281,001527:                                                                                                  #        IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022282,001528:                                                                                                  #                1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022283,001529:                                                                                                  #                   AUTO MODE (RADMODES BITS 13, 7, 2).
022284,001530:                                                                                                  #                2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022285,001531:                                                                                                  #                   8,5)
022286,001532:                                                                                                  #                3) NO RR DATA (RADMODES BIT 4)
022287,001533:                                                                                                  #        THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022288,001534:                                                                                                  #        IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022289,001535:                                                                                                  #        LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022290,001536:                                                                                                  #        THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022291,001537:                                                                                                  #        TRACKER FAIL LAMP IS TURNED ON IF_
022292,001538:                                                                                                  #                A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022293,001539:                                                                                                  #                B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022294,001540:                                                                                                  #                   EITHER THE ALT OR VEL INFORMATION
022295,001541:                                                                                                  #                C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022296,001542:                                                                                                  #                   WITH EITHER THE AL
022297,001543: 
022298,001544:                                                                                                  #  CALLING SEQUENCE:
022299,001545: 
022300,001546:                                                                                                  #        L       TC      SETTRKF
022301,001547: 
022302,001548:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:  IMODES33, RADMODES, DSPTAB +11D
022303,001549: 
022304,001550:                                                                                                  #  SUBROUTINES CALLED_  NONE
022305,001551: 
022306,001552:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
022307,001553: 
022308,001554:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
022309,001555: 
022310,001556:                                                                                                  #  EXIT_  L +1 (ALWAYS)                                                          ED.
022311,001557: 
022312,001558:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
022313,001559:    4565           71303                           MASK     IMODES33                              
022314,001560:    4566           10000                           CCS      A                                     
022315,001561:    4567           00002                           TC       Q                                     
022316,001562: 
022317,001563:    4570           34744        RRTRKF             CA       BIT8                                  
022318,001564:    4571           54001                           TS       L                                     
022319,001565: 
022320,001566:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
022321,001567:    4573           70110                           MASK     RADMODES                              
022322,001568:    4574           00006                           EXTEND                                         
022323,001569:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
022324,001570: 
022325,001571:    4576           34750        RRCHECK            CAF      RRDATABT                              #  SEE IF RR DATA FAILED.
022326,001572:    4577           70110                           MASK     RADMODES                              

Page 525

022328,001574:    4600           10000                           CCS      A                                     
022329,001575:    4601           30001        TRKFLON            CA       L                                     
022330,001576:    4602           61036                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
022331,001577:    4603           70001                           MASK     L                                     
022332,001578:    4604           00006                           EXTEND                                         
022333,001579:    4605           16742                           BZF      TCQ                                   #  NO CHANGE.
022334,001580: 
022335,001581:    4606           31036        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
022336,001582:    4607           00006                           EXTEND                                         
022337,001583:    4610           06001                           RXOR     LCHAN                                 
022338,001584:    4611           74733                           MASK     POSMAX                                
022339,001585:    4612           64735                           AD       BIT15                                 
022340,001586:    4613           55036                           TS       DSPTAB     +11D                       
022341,001587:    4614           00002                           TC       Q                                     
022342,001588: 
022343,001589:    4615           10102        13,7,2             OCT      10102                                 
022344,001590:    4616                        ENDRMODF           EQUALS                                         
022345,001591: 

Page 526

022347,001593:                                                                                                  #  PROGRAM NAME_  RRTURNON
022348,001594: 
022349,001595:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022350,001596: 
022351,001597:                                                                                                  #        RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022352,001598:                                                                                                  #        RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022353,001599:                                                                                                  #        INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022354,001600:                                                                                                  #        ACTUAL TURN-ON SEQUENCE.  UPON RETURN THE PROGRAM
022355,001601:                                                                                                  #        WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022356,001602:                                                                                                  #        (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022357,001603:                                                                                                  #        INITIATE PROGRAM ALARM 00501.  A CHECK IS THEN MADE
022358,001604:                                                                                                  #        TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7).  IF
022359,001605:                                                                                                  #        SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022360,001606:                                                                                                  #        FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022361,001607:                                                                                                  #        RETURNING TO THE WAITING PROGRAM.  IF NOT, THE PROGRAM EXITS
022362,001608:                                                                                                  #        TO TASKOVER.
022363,001609: 
022364,001610:                                                                                                  #  CALLING SEQUENCE:  WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022365,001611:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING 
022366,001612:                                                                                                  #  THE RR (STATE BIT 7).
022367,001613: 
022368,001614:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022369,001615: 
022370,001616:                                                                                                  #        RADMODES, STATE
022371,001617: 
022372,001618:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022373,001619: 
022374,001620:                                                                                                  #  JOBS OR TASKS INITIATED_
022375,001621:                                                                                                  #        
022376,001622:                                                                                                  #        NONE
022377,001623: 
022378,001624:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
022379,001625: 
022380,001626:                                                                                                  #  EXIT_  TASKOVER, ENDRADAR (WAITING PROGRAM)
022381,001627: 
022382,001628: 24,3255                                           BANK     24                                    
022383,001629: 25,2000                                           SETLOC   P20S1                                 
022384,001630: 25,2000                                           BANK                                           
022385,001631: 
022386,001632: 25,2062  E7,1456                                  EBANK=   LOSCOUNT                              
022387,001633: 25,2062                                           COUNT*   $$/RSUB                               
022388,001634: 25,2062           02071        RRTURNON           TC       RRZEROSB                              
022389,001635: 25,2063           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022390,001636: 25,2064           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
022391,001637: 25,2065           44753                           CS       TURNONBT                              
022392,001638: 25,2066           70110                           MASK     RADMODES                              
022393,001639: 25,2067           54110                           TS       RADMODES                              
022394,001640: 25,2070           15261                           TCF      TASKOVER                              

Page 527

022396,001642:                                                                                                  #  PROGRAM NAME_  RRZEROSB
022397,001643: 
022398,001644:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022399,001645:                                                                                                  #        RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022400,001646:                                                                                                  #        DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022401,001647:                                                                                                  #        LAMP IF REQUIRED.  INITIALLY THE RR CDU ZERO BIT (CHAN 12
022402,001648:                                                                                                  #        BIT 1) IS SET.  FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022403,001649:                                                                                                  #        RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER 
022404,001650:                                                                                                  #        WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022405,001651:                                                                                                  #        REMOVED.  A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022406,001652:                                                                                                  #        TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES.  THE
022407,001653:                                                                                                  #        RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED.  THE
022408,001654:                                                                                                  #        CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022409,001655:                                                                                                  #        ANGLE IS LESS THAN 90 DEGREES.  IF NOT, BIT 12 OF
022410,001656:                                                                                                  #        RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022411,001657:                                                                                                  #        IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022412,001658:                                                                                                  #        INDICATE RR ANTENNA MODE 1.  SETTRKF IS THEN CALLED TO
022413,001659:                                                                                                  #        SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022414,001660: 
022415,001661:                                                                                                  #  CALLING SEQUENCE:  L  TC  RRZEROSB  (FROM RRTURNON AND RRZERO)
022416,001662: 
022417,001663:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022418,001664: 
022419,001665:                                                                                                  #        RADMODES (BIT 13 SET), DSPTAB +11D
022420,001666: 
022421,001667:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
022422,001668: 
022423,001669:                                                                                                  #  JOBS OR TASKS INITIATED_
022424,001670: 
022425,001671:                                                                                                  #        NONE
022426,001672: 
022427,001673:                                                                                                  #  ALARMS_  TRACKER FAIL
022428,001674: 
022429,001675:                                                                                                  #  EXIT_  L +1 (ALWAYS)
022430,001676: 
022431,001677: 25,2071           00006        RRZEROSB           EXTEND                                         
022432,001678: 25,2072           23315                           QXCH     RRRET                                 
022433,001679: 25,2073           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
022434,001680: 25,2074           00006                           EXTEND                                         #  COMING HERE.
022435,001681: 25,2075           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
022436,001682: 25,2076           05221                           TC       FIXDELAY                              
022437,001683: 25,2077           00002                           DEC      2          B-14                       
022438,001684: 
022439,001685: 25,2100           34755                           CAF      ZERO                                  
022440,001686: 25,2101           54035                           TS       CDUT                                  
022441,001687: 25,2102           54036                           TS       CDUS                                  
022442,001688: 25,2103           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
022443,001689: 25,2104           00006                           EXTEND                                         
022444,001690: 25,2105           03012                           WAND     CHAN12                                
022445,001691: 25,2106           05221                           TC       FIXDELAY                              
022446,001692: 25,2107           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
022447,001693: 
022448,001694: 25,2110           44737                           CS       RCDU0BIT                              #  REMOVE ZEROING IN PROCESS BIT.

Page 528

022450,001696: 25,2111           70110                           MASK     RADMODES                              
022451,001697: 25,2112           54110                           TS       RADMODES                              
022452,001698: 
022453,001699: 25,2113           30035                           CA       CDUT                                  
022454,001700: 25,2114           04512                           TC       MAGSUB                                
022455,001701: 25,2115           57777                           DEC      -.5                                   
022456,001702: 25,2116           12121                           TCF      +3                                    #  IF MODE 2.
022457,001703: 
022458,001704: 25,2117           34755                           CAF      ZERO                                  
022459,001705: 25,2120           12122                           TCF      +2                                    
022460,001706: 25,2121           34740                           CAF      ANTENBIT                              
022461,001707: 25,2122           56110                           XCH      RADMODES                              
022462,001708: 25,2123           77741                           MASK     -BIT12                                
022463,001709: 25,2124           26110                           ADS      RADMODES                              
022464,001710: 
022465,001711: 25,2125           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
022466,001712: 
022467,001713: 25,2126           01315                           TC       RRRET                                 #  DONE.
022468,001714: 
022469,001715: 25,2127     7741               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
022470,001716: 

Page 529

022472,001718:                                                                                                  #  PROGRAM NAME_  DORREPOS
022473,001719: 
022474,001720:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022475,001721: 
022476,001722:                                                                                                  #        DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022477,001723:                                                                                                  #        TO A SAFE POSITION.  INITIALLY SETRRECR IS CALLED WHERE THE RR
022478,001724:                                                                                                  #        ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022479,001725:                                                                                                  #        AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022480,001726:                                                                                                  #        DESIRED STATE AND PRESENT STATE OF THE COMMANDS.  THE RR
022481,001727:                                                                                                  #        TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022482,001728:                                                                                                  #        PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING.  IN EITHER
022483,001729:                                                                                                  #        CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022484,001730:                                                                                                  #        RR ANTENNA MODE (RADMODES BIT 12).  RRTONLY IS THEN CALLED
022485,001731:                                                                                                  #        TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022486,001732:                                                                                                  #        DEGREES IF IN MODE 2.  UPON RETURN, THE CURRENT RR ANTENNA
022487,001733:                                                                                                  #        MODE (RADMODES BIT 12) IS AGAIN CHECKED.  RRSONLY IS THEN
022488,001734:                                                                                                  #        CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022489,001735:                                                                                                  #        -90 DEGREES IF IN MODE 2.  IF DURING RRTONLY OR RRSONLY A
022490,001736:                                                                                                  #        REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022491,001737:                                                                                                  #        FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022492,001738:                                                                                                  #        REPOSRPT.  HERE THE REPOSITION FLAG (RADMODES BIT 11) IS 
022493,001739:                                                                                                  #        REMOVED.  A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022494,001740:                                                                                                  #        BIT 10).  IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES.  IF NOT PRESENT
022495,001741:                                                                                                  #        INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022496,001742:                                                                                                  #        COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022497,001743:                                                                                                  #        TASKOVER.
022498,001744: 
022499,001745:                                                                                                  #  CALLING SEQUENCE:
022500,001746: 
022501,001747:                                                                                                  #        WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022502,001748:                                                                                                  #        NOT WITHIN LIMITS OF CURRENT MODE.
022503,001749: 
022504,001750:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022505,001751: 
022506,001752:                                                                                                  #        RADMODES
022507,001753: 
022508,001754:                                                                                                  #  SUBROUTINES CALLED_
022509,001755: 
022510,001756:                                                                                                  #        RRTONLY, RRSONLY, BEGDES (EXIT)
022511,001757: 
022512,001758:                                                                                                  #  JOBS OR TASKS INITIATED_
022513,001759: 
022514,001760:                                                                                                  #        NONE
022515,001761: 
022516,001762:                                                                                                  #  ALARMS-  NONE
022517,001763: 
022518,001764:                                                                                                  #  EXIT_  TASKOVER, BEGDES
022519,001765: 
022520,001766: 25,2127           02156        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
022521,001767: 
022522,001768:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022523,001769: 
022524,001770: 25,2130           05221                           TC       FIXDELAY                              
022525,001771: 25,2131           00002                           DEC      2          B-14                       
022526,001772: 
022527,001773: 25,2132           34740                           CAF      ANTENBIT                              #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.

Page 530

022529,001775: 25,2133           70110                           MASK     RADMODES                              
022530,001776: 25,2134           10000                           CCS      A                                     
022531,001777: 25,2135           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
022532,001778: 25,2136           02241                           TC       RRTONLY                               
022533,001779: 
022534,001780: 25,2137           34740                           CAF      ANTENBIT                              #  NOW PUT SHAFT IN RIGHT POSITION
022535,001781: 25,2140           70110                           MASK     RADMODES                              
022536,001782: 25,2141           10000                           CCS      A                                     
022537,001783: 25,2142           44736                           CS       HALF                                  #  -90 FOR MODE 2.
022538,001784: 25,2143           02244                           TC       RRSONLY                               
022539,001785: 
022540,001786: 25,2144           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
022541,001787:                                                                                                  #  REQUESTED DURING REPOSITION.
022542,001788: 25,2145           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
022543,001789: 25,2146           54110                           TS       RADMODES                              
022544,001790: 25,2147           74742                           MASK     DESIGBIT                              #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
022545,001791: 25,2150           10000                           CCS      A                                     
022546,001792: 25,2151           12573                           TCF      BEGDES                                
022547,001793: 25,2152           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
022548,001794: 25,2153           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
022549,001795: 25,2154           03012                           WAND     CHAN12                                
022550,001796: 25,2155           15261                           TCF      TASKOVER                              
022551,001797: 
022552,001798: 25,2156           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
022553,001799: 25,2157           00006                           EXTEND                                         
022554,001800: 25,2160           02012                           RAND     CHAN12                                
022555,001801: 25,2161           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
022556,001802: 25,2162           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
022557,001803: 
022558,001804: 25,2163           54112                           TS       LASTYCMD                              
022559,001805: 25,2164           54113                           TS       LASTXCMD                              
022560,001806: 25,2165           34752                           CAF      BIT2                                  
022561,001807: 25,2166           00006                           EXTEND                                         
022562,001808: 25,2167           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
022563,001809: 25,2170           00002                           TC       Q                                     

Page 531

022565,001811:                                                                                                  #  PROGRAM NAME_  REMODE                                                         IVES SHAFT TO -45, AND FINALLY DRIVES
022566,001812: 
022567,001813:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       S DONE WITH SINGLE AXIS ROTATIONS (SEE
022568,001814:                                                                                                  #        REMODE IS THE GENERAL REMODING SUBROUTINE.  IT DRIVES THE
022569,001815:                                                                                                  #        TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022570,001816:                                                                                                  #        180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022571,001817:                                                                                                  #        DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022572,001818:                                                                                                  #        TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022573,001819:                                                                                                  #        INITIATING 2-AXIS CONTROL.  ALL REMODING IS DONE WITH SINGLE
022574,001820:                                                                                                  #        AXIS ROTATIONS (RR1AXIS).  INITIALLY THE RR ANTENNA MODE FLAG
022575,001821:                                                                                                  #        (RADMODES BIT 12) IS CHECKED.  CONTROL IS THEN TRANSFERRED TO
022576,001822:                                                                                                  #        RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022577,001823:                                                                                                  #        OR 180 DEGREES IF IN MODE 2.  RRSONLY IS THEN CALLED TO DRIVE
022578,001824:                                                                                                  #        THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022579,001825:                                                                                                  #        (RADMODES BIT 12) IS CHECKED AGAIN.  CONTROL IS AGAIN
022580,001826:                                                                                                  #        TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022581,001827:                                                                                                  #        DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022582,001828:                                                                                                  #        -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1.  RMODINV
022583,001829:                                                                                                  #        IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022584,001830:                                                                                                  #        RR ANTENNA MODE.  THE REMODE FLAG (RADMODES BIT 14)
022585,001831:                                                                                                  #        IS REMOVED TO INDICATE THAT REMODING IS COMPLETE.  THE PROGRAM
022586,001832:                                                                                                  #        THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022587,001833: 
022588,001834:                                                                                                  #  CALLING SEQUENCE:
022589,001835: 
022590,001836:                                                                                                  #        FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022591,001837:                                                                                                  #        THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022592,001838:                                                                                                  #        DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022593,001839:                                                                                                  #        OTHER MODE.
022594,001840: 
022595,001841:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022596,001842: 
022597,001843:                                                                                                  #        RADMODES
022598,001844: 
022599,001845:                                                                                                  #  SUBROUTINES CALLED_
022600,001846: 
022601,001847:                                                                                                  #        RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022602,001848: 
022603,001849:                                                                                                  #  JOBS OR TASKS INITIATED_
022604,001850: 
022605,001851:                                                                                                  #        NONE
022606,001852: 
022607,001853:                                                                                                  #  ALARMS_  NONE
022608,001854: 
022609,001855:                                                                                                  #  EXIT_  STDESIG
022610,001856: 
022611,001857: 25,2171           34740        REMODE             CAF      ANTENBIT                              #  DRIVE TRUNNION TO 0 (180)
022612,001858: 25,2172           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
022613,001859: 25,2173           10000                           CCS      A                                     
022614,001860: 25,2174           34735                           CAF      BIT15                                 
022615,001861: 25,2175           02241                           TC       RRTONLY                               
022616,001862: 
022617,001863: 25,2176           37740                           CAF      -45DEGSR                              
022618,001864: 25,2177           02244                           TC       RRSONLY                               

Page 532

022620,001866: 25,2200           40110                           CS       RADMODES                              
022621,001867: 25,2201           74740                           MASK     ANTENBIT                              
022622,001868: 25,2202           10000                           CCS      A                                     
022623,001869: 25,2203           32232                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
022624,001870: 25,2204           62231                           AD       -50DEGSR                              
022625,001871: 25,2205           02241                           TC       RRTONLY                               
022626,001872: 
022627,001873: 25,2206           40110                           CS       RADMODES                              
022628,001874: 25,2207           74740                           MASK     ANTENBIT                              
022629,001875: 25,2210           10000                           CCS      A                                     
022630,001876: 25,2211           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
022631,001877: 25,2212           02241                           TC       RRTONLY                               
022632,001878: 
022633,001879: 25,2213           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
022634,001880: 25,2214           74740                           MASK     ANTENBIT                              
022635,001881: 25,2215           10000                           CCS      A                                     
022636,001882: 25,2216           44736                           CS       HALF                                  
022637,001883: 25,2217           02244                           TC       RRSONLY                               
022638,001884: 
022639,001885: 25,2220           02233                           TC       RMODINV                               
022640,001886: 
022641,001887: 25,2221           44736                           CS       REMODBIT                              #  END OF REMODE.
022642,001888: 25,2222           70110                           MASK     RADMODES                              
022643,001889: 25,2223           54110                           TS       RADMODES                              
022644,001890: 
022645,001891: 25,2224           34742                           CAF      DESIGBIT                              #  WAS REMODE CALLED DURING DESIGNATE?
022646,001892: 25,2225           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
022647,001893: 25,2226           00006                           EXTEND                                         
022648,001894: 25,2227           13555                           BZF      RGOODEND                              #  NO - RETURN TO CALLER WAITING IN RADSTALL
022649,001895: 25,2230           02602                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
022650,001896: 25,2231     7740               -45DEGSR           =        13,14,15                              
022651,001897: 25,2231           67070        -50DEGSR           DEC      -.27778                               
022652,001898: 25,2232           61615        -80DEGSR           DEC      -.44444                               
022653,001899: 
022654,001900: 25,2233           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
022655,001901: 25,2234           34740                           CAF      ANTENBIT                              
022656,001902: 25,2235           00006                           EXTEND                                         
022657,001903: 25,2236           06001                           RXOR     LCHAN                                 
022658,001904: 25,2237           54110                           TS       RADMODES                              
022659,001905: 25,2240           00002                           TC       Q                                     
022660,001906: 

Page 533

022662,001908:                                                                                                  #  PROGRAM NAMES_        RRTONLY, RRSONLY
022663,001909: 
022664,001910:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022665,001911: 
022666,001912:                                                                                                  #        RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022667,001913:                                                                                                  #        RR MANEUVERS FOR REMODE AND REPOSITION.  IT DRIVES TO
022668,001914:                                                                                                  #        WITHIN 1 DEGREE.  INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022669,001915:                                                                                                  #        FLAGS (RADMODES BITS 14, 11) ARE CHECKED.  IF BOTH EXIST,
022670,001916:                                                                                                  #        THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS).  THIS INDICATES
022671,001917:                                                                                                  #        THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022672,001918:                                                                                                  #        WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022673,001919:                                                                                                  #        REPOSITION IS IN PROGRESS (RADMODES BIT 11).  IF NONE
022674,001920:                                                                                                  #        OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022675,001921:                                                                                                  #        IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE.  IF YES,
022676,001922:                                                                                                  #        CONTROL RETURNS TO THE CALLING ROUTINE.  IF NOT, CONTROL IS
022677,001923:                                                                                                  #        TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022678,001924:                                                                                                  #        ANGLE SET = 0.  FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022679,001925:                                                                                                  #        REPEATED.
022680,001926: 
022681,001927:                                                                                                  #  CALLING SEQUENCE:     L-1     CAF     *ANGLE*         (DESIRED ANGLE SCALED PI)
022682,001928:                                                                                                  #                        L       TC      RRTONLY         (TRUNNION ONLY)
022683,001929:                                                                                                  #                        RRSONLY                         (SHAFT ONLY)
022684,001930:                                                                                                  #                        RRTONLY IS CALLED BY PREPOS29;
022685,001931:                                                                                                  #                        RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022686,001932: 
022687,001933:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022688,001934: 
022689,001935:                                                                                                  #        C(A) = DESIRED ANGLE, RADMODES
022690,001936: 
022691,001937:                                                                                                  #  SUBROUTINES CALLED_
022692,001938: 
022693,001939:                                                                                                  #        FIXDELAY, REPOSRPT, MAGSUB, RROUT
022694,001940: 
022695,001941:                                                                                                  #  JOBS OR TASKS INITIATED_
022696,001942: 
022697,001943:                                                                                                  #        NONE
022698,001944: 
022699,001945:                                                                                                  #  ALARMS_  NONE
022700,001946: 
022701,001947:                                                                                                  #  EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022702,001948:                                                                                                  #        BITS 14, 11)
022703,001949:                                                                                                  #        L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022704,001950: 
022705,001951: 25,2241           55316        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
022706,001952: 25,2242           34755                           CAF      ZERO                                  
022707,001953: 25,2243           12246                           TCF      RR1AXIS                               
022708,001954: 
022709,001955: 25,2244           55316        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022710,001956: 25,2245           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022711,001957: 
022712,001958: 25,2246           55317        RR1AXIS            TS       RRINDEX                               
022713,001959: 25,2247           00006                           EXTEND                                         
022714,001960: 25,2250           23315                           QXCH     RRRET                                 
022715,001961: 25,2251           12254                           TCF      RR1AX2                                
022716,001962: 

Page 534

022718,001964: 25,2252           05221        NXTRR1AX           TC       FIXDELAY                              
022719,001965: 25,2253           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
022720,001966: 
022721,001967: 25,2254           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
022722,001968: 25,2255           77710                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
022723,001969: 25,2256           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
022724,001970: 25,2257           12144                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
022725,001971: 
022726,001972: 25,2260           31316                           CA       RDES                                  
022727,001973: 25,2261           00006                           EXTEND                                         
022728,001974: 25,2262           51317                           INDEX    RRINDEX                               
022729,001975: 25,2263           20035                           MSU      CDUT                                  
022730,001976: 25,2264           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
022731,001977: 25,2265           00006                           EXTEND                                         
022732,001978: 25,2266           72305                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
022733,001979: 25,2267           54001                           TS       L                                     
022734,001980: 25,2270           30110                           CA       RADMODES                              
022735,001981: 25,2271           74752                           MASK     AUTOMBIT                              
022736,001982: 25,2272           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
022737,001983: 25,2273           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
022738,001984: 25,2274           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
022739,001985: 
022740,001986: 25,2275           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
022741,001987: 25,2276           01315                           TC       RRRET                                 #  RETURN TO CALLER.
022742,001988: 
022743,001989: 25,2277           11317                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
022744,001990: 25,2300           12302                           TCF      +2                                    #  SETTING A TO 0.
022745,001991: 25,2301           56001                           XCH      L                                     
022746,001992: 25,2302           53110                           DXCH     TANG                                  
022747,001993: 
022748,001994: 25,2303           02306                           TC       RROUT                                 
022749,001995: 
022750,001996: 25,2304           12252                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
022751,001997: 
022752,001998: 25,2305           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
022753,001999: 

Page 535

022755,002001:                                                                                                  #  PROGRAM NAME_  RROUT                                                          RROR COUNTER SCALING. RROUT LIMITS THEM
022756,002002: 
022757,002003:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022758,002004: 
022759,002005:                                                                                                  #        RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
022760,002006:                                                                                                  #        ERROR COUNTER SCALING.  RROUT THEN LIMITS THEM AND
022761,002007:                                                                                                  #        GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
022762,002008:                                                                                                  #        TO THE DESIRED VALUES.  INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
022763,002009:                                                                                                  #        THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
022764,002010:                                                                                                  #        384 PULSES.  IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
022765,002011:                                                                                                  #        LIMIT THE COMMAND TO +384 OR -384 PULSES.  THE DIFFERENCE IS
022766,002012:                                                                                                  #        THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
022767,002013:                                                                                                  #        THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
022768,002014:                                                                                                  #        THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
022769,002015:                                                                                                  #        PASS).  FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
022770,002016:                                                                                                  #        OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
022771,002017:                                                                                                  #        ARE SET.  THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
022772,002018: 
022773,002019:                                                                                                  #  CALLING SEQUENCE:
022774,002020:                                                                                                  #        
022775,002021:                                                                                                  #        L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
022776,002022:                                                                                                  #        RRTONLY, RRSONLY, AND DODES
022777,002023: 
022778,002024:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022779,002025: 
022780,002026:                                                                                                  #        TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
022781,002027:                                                                                                  #        (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
022782,002028: 
022783,002029:                                                                                                  #  SUBROUTINES CALLED_
022784,002030: 
022785,002031:                                                                                                  #        MAGSUB
022786,002032: 
022787,002033:                                                                                                  #  JOBS OR TASKS INITIATED_
022788,002034: 
022789,002035:                                                                                                  #        NONE
022790,002036: 
022791,002037:                                                                                                  #  ALARMS_  NONE
022792,002038: 
022793,002039:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                                           SIRED VALUES. RUPT MUST BE INHIBITED.
022794,002040: 
022795,002041: 25,2306           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
022796,002042: 25,2307           34753                           CAF      ONE                                   #  LOOP TWICE.
022797,002043: 25,2310           54062        RROUT2             TS       ITEMP2                                
022798,002044: 25,2311           50000                           INDEX    A                                     
022799,002045: 25,2312           31107                           CA       TANG                                  
022800,002046: 25,2313           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
022801,002047: 
022802,002048: 25,2314           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
022803,002049: 25,2315           77177        -RRLIMIT           DEC      -384       B-14                       
022804,002050: 25,2316           12335                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
022805,002051: 
022806,002052: 25,2317           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
022807,002053: 25,2320           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
022808,002054: 25,2321           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
022809,002055: 25,2322           40000                           COM                                            

Page 536

022811,002057: 25,2323           60061                           AD       ITEMP1                                
022812,002058: 25,2324           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
022813,002059: 25,2325           50062                           INDEX    ITEMP2                                
022814,002060: 25,2326           54053                           TS       CDUTCMD                               
022815,002061: 
022816,002062: 25,2327           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
022817,002063: 25,2330           12310                           TCF      RROUT2                                
022818,002064: 
022819,002065: 25,2331           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
022820,002066: 25,2332           00006                           EXTEND                                         
022821,002067: 25,2333           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
022822,002068: 25,2334           00001                           TC       L                                     #  RETURN.
022823,002069: 
022824,002070: 25,2335           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
022825,002071: 25,2336           42315                           CS       -RRLIMIT                              
022826,002072: 25,2337           12341                           TCF      +2                                    
022827,002073: 25,2340           32315                           CA       -RRLIMIT                              
022828,002074: 25,2341           54061                           TS       ITEMP1                                
022829,002075: 25,2342           12320                           TCF      SETRRCTR   +1                         
022830,002076: 

Page 537

022832,002078:                                                                                                  #  ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
022833,002079: 
022834,002080: 25,2343           32372        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
022835,002081: 25,2344           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
022836,002082: 25,2345           10000                           CCS      A                                     
022837,002083: 25,2346           13530                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
022838,002084: 
022839,002085: 25,2347           00004                           INHINT                                         
022840,002086: 25,2350           44737                           CS       RCDU0BIT                              #  SET FLAG TO SHOW ZEROING IN PROGRESS.
022841,002087: 25,2351           70110                           MASK     RADMODES                              
022842,002088: 25,2352           64737                           AD       RCDU0BIT                              
022843,002089: 25,2353           54110                           TS       RADMODES                              
022844,002090: 
022845,002091: 25,2354           34753                           CAF      ONE                                   
022846,002092: 25,2355           05203                           TC       WAITLIST                              
022847,002093: 25,2356  E7,1456                                  EBANK=   LOSCOUNT                              
022848,002094: 25,2356           02370 52067                     2CADR    RRZ2                                  
022849,002095: 
022850,002096: 25,2360           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
022851,002097: 25,2361           74752                           MASK     AUTOMBIT                              
022852,002098: 25,2362           10000                           CCS      A                                     
022853,002099: 25,2363           12366                           TCF      ROADBACK                              
022854,002100: 25,2364           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
022855,002101: 25,2365           00510                           OCT      510                                   
022856,002102: 25,2366           00003        ROADBACK           RELINT                                         
022857,002103: 25,2367           14631                           TCF      SWRETURN                              
022858,002104: 
022859,002105: 25,2370           02071        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
022860,002106: 25,2371           13546                           TCF      ENDRADAR                              
022861,002107: 
022862,002108: 25,2372           02001        BIT11+1            OCT      02001                                 
022863,002109: 

Page 538

022865,002111:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                        R (HALF-UNIT) IN RRTARGET. REMODES IF
022866,002112: 
022867,002113:                                                                                                  #  FUNCTIONAL DESCRIPTION_
022868,002114: 
022869,002115:                                                                                                  #        THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
022870,002116:                                                                                                  #        WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
022871,002117:                                                                                                  #        (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
022872,002118:                                                                                                  #        ORIENTATION.  INITIALLY THE IMU CDU:S ARE READ AND CONTROL
022873,002119:                                                                                                  #        TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
022874,002120:                                                                                                  #        MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
022875,002121:                                                                                                  #        RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
022876,002122:                                                                                                  #        TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
022877,002123:                                                                                                  #        RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
022878,002124:                                                                                                  #        PRESENT MODE ARE WITHIN LIMITS.  IF WITHIN LIMITS, THE RETURN
022879,002125:                                                                                                  #        LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
022880,002126:                                                                                                  #        REQUIRED, BEFORE EXITING TO STARTDES.  IF NOT WITHIN LIMITS OF THE
022881,002127:                                                                                                  #        CURRENT MODE, TRYSWS IS CALLED.  FOLLOWING INVERTING OF THE RR
022882,002128:                                                                                                  #        ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
022883,002129:                                                                                                  #        TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
022884,002130:                                                                                                  #        LIMITS.  IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
022885,002131:                                                                                                  #        THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
022886,002132:                                                                                                  #        INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
022887,002133:                                                                                                  #        EXITING TO STARTDES.  IF THESE ANGLES ARE NOT WITHIN LIMITS
022888,002134:                                                                                                  #        OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
022889,002135:                                                                                                  #        BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
022890,002136:                                                                                                  #        TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
022891,002137: 
022892,002138:                                                                                                  #  CALLING SEQUENCE:
022893,002139: 
022894,002140:                                                                                                  #        L       STCALL  RRTARGET        (LOS HALF-UNIT VECTOR IN SM COORDINATES)
022895,002141:                                                                                                  #        L+1     RRDESSM
022896,002142:                                                                                                  #        L+2     BASIC                   (VEHICLE MANEUVER REQUIRED)
022897,002143:                                                                                                  #        L+3     BASIC                   (NO VEHICLE MANEUVER REQUIRED)
022898,002144: 
022899,002145:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022900,002146: 
022901,002147:                                                                                                  #        RRTARGET, RADMODES
022902,002148: 
022903,002149:                                                                                                  #  SUBROUTINES CALLED_
022904,002150: 
022905,002151:                                                                                                  #        READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
022906,002152:                                                                                                  #        PART OF), RMODINV
022907,002153: 
022908,002154:                                                                                                  #  JOBS OR TASKS INITIATED_
022909,002155: 
022910,002156:                                                                                                  #        NONE
022911,002157: 
022912,002158:                                                                                                  #  ALARMS_  NONE
022913,002159: 
022914,002160:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
022915,002161:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
022916,002162:                                                                                                  #  TO L+3 FROM STARTDES)                                                         CAN BE DONE IN PRESENT VEH ATTITUDE.
022917,002163: 
022918,002164: 25,2373           43020        RRDESSM            STQ      CLEAR                                 
022919,002165: 25,2374           01113                                    DESRET                                

Page 539

022921,002167: 25,2375           00271                                    RRNBSW                                
022922,002168: 25,2376           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
022923,002169: 25,2377           47537                                    CDUTRIG                               
022924,002170: 25,2400           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
022925,002171: 25,2401           01102                                    RRTARGET                              
022926,002172: 25,2402           47671                                    *SMNB*                                
022927,002173: 
022928,002174: 25,2403           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
022929,002175: 25,2404           26133                                    RRANGLES                              #  ALTERNATE MODE.
022930,002176: 25,2405           77776                           EXIT                                           
022931,002177: 
022932,002178: 25,2406           00004                           INHINT                                         
022933,002179: 25,2407           04523                           TC       RRLIMCHK                              
022934,002180: 25,2410           01107                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
022935,002181: 25,2411           02414                           TC       +3                                    #  NOT IN CURRENT MODE
022936,002182: 25,2412           25113        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
022937,002183: 25,2413           02432                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
022938,002184: 25,2414           40104                           CS       FLAGWRD8                              
022939,002185: 25,2415           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
022940,002186: 25,2416           00006                           EXTEND                                         
022941,002187: 25,2417           12456                           BZF      NORDSTAL                              #  BRANCH - YES - CANNOT DESIGNATE IN MODE 2
022942,002188: 25,2420           02461                           TC       TRYSWS                                
022943,002189: 
022944,002190: 25,2421           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
022945,002191: 25,2422           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
022946,002192: 25,2423           00006                           EXTEND                                         
022947,002193: 25,2424           12456                           BZF      NORDSTAL                              #  BRANCH - YES - RETURN TO CALLER - ALARM 527
022948,002194: 25,2425           30074                           CA       STATE                                 
022949,002195: 25,2426           74745                           MASK     RNDVZBIT                              
022950,002196: 25,2427           10000                           CCS      A                                     #  TEST RNDVZFLG.
022951,002197: 25,2430           02471                           TC       NODESSM                               #  NOT ON MOON - CALL FOR ATTITUDE MANEUVER
022952,002198: 25,2431           15155                           TCF      ENDOFJOB                              #  ... BUT NOT IN R29.
022953,002199: 

Page 540

022955,002201:                                                                                                  #  PROGRAM NAME_  STARTDES                                                       STORED AS A HALF-UNIT VECTOR IN RRTARGET
022956,002202: 
022957,002203:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                       CKON IS DESIRED. BIT14 OF RADMODES IS
022958,002204:                                                                                                  #        STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
022959,002205:                                                                                                  #        BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
022960,002206:                                                                                                  #        AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
022961,002207:                                                                                                  #        OPERATION.  IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
022962,002208:                                                                                                  #        ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
022963,002209:                                                                                                  #        OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
022964,002210:                                                                                                  #        DESIGNATION BEGINS.  INITIALLY DESCOUNT IS SET = 60 TO INDICATE
022965,002211:                                                                                                  #        THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
022966,002212:                                                                                                  #        (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5).  BIT 10
022967,002213:                                                                                                  #        OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
022968,002214:                                                                                                  #        THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF SET,
022969,002215:                                                                                                  #        THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
022970,002216:                                                                                                  #        AND RRDESNB).  THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
022971,002217:                                                                                                  #        ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
022972,002218:                                                                                                  #        REQUESTED.  IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
022973,002219:                                                                                                  #        WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
022974,002220:                                                                                                  #        AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
022975,002221:                                                                                                  #        DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
022976,002222:                                                                                                  #        COUNTERS.  A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
022977,002223:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
022978,002224: 
022979,002225:                                                                                                  #  CALLING SEQUENCE:
022980,002226: 
022981,002227:                                                                                                  #        FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
022982,002228: 
022983,002229:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
022984,002230: 
022985,002231:                                                                                                  #        RADMODES, (SEE DODES)
022986,002232: 
022987,002233:                                                                                                  #  SUBROUTINES CALLED_
022988,002234: 
022989,002235:                                                                                                  #        SETRRECR, WAITLIST
022990,002236: 
022991,002237:                                                                                                  #  JOBS OR TASKS INITIATED_
022992,002238: 
022993,002239:                                                                                                  #        BEGDES
022994,002240: 
022995,002241:                                                                                                  #  ALARMS_  NONE
022996,002242: 
022997,002243:                                                                                                  #  EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
022998,002244:                                                                                                  #        L+2 OF CALLING PROGRAM (SEE RRDESNB)
022999,002245: 
023000,002246: 25,2432           25113        STARTDES           INCR     DESRET                                
023001,002247: 25,2433           40110                           CS       RADMODES                              
023002,002248: 25,2434           74742                           MASK     DESIGBIT                              
023003,002249: 25,2435           26110                           ADS      RADMODES                              
023004,002250: 25,2436           74741                           MASK     REPOSBIT                              #  SEE IF REPOSITIONING IN PROGRESS.
023005,002251: 25,2437           10000                           CCS      A                                     
023006,002252: 25,2440           12446                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
023007,002253: 
023008,002254: 25,2441           02156                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.

Page 541

023010,002256: 25,2442           34752                           CAF      TWO                                   
023011,002257: 25,2443           05203                           TC       WAITLIST                              
023012,002258: 25,2444  E7,1456                                  EBANK=   LOSCOUNT                              
023013,002259: 25,2444           02573 52067                     2CADR    BEGDES                                
023014,002260: 
023015,002261: 25,2446           31306        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
023016,002262: 25,2447           00006                           EXTEND                                         
023017,002263: 25,2450           12452                           BZF      DESRTRN                               #  YES   SET EXIT
023018,002264: 25,2451           05155                           TC       ENDOFJOB                              #  NO
023019,002265: 25,2452           00003        DESRTRN            RELINT                                         
023020,002266: 25,2453           25113                           INCR     DESRET                                
023021,002267: 25,2454           31113                           CA       DESRET                                
023022,002268: 25,2455           14640                           TCF      BANKJUMP                              
023023,002269: 
023024,002270: 25,2456           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE OUT ANYONE
023025,002271: 25,2457           55306                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
023026,002272: 25,2460           12452                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
023027,002273: 

Page 542

023029,002275:                                                                                                  #  SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023030,002276: 
023031,002277: 25,2461           02233        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
023032,002278: 25,2462           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
023033,002279: 25,2463           01111                           ADRES    MODEB                                 
023034,002280: 25,2464           12471                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
023035,002281: 
023036,002282: 25,2465           02233                           TC       RMODINV                               #  RESET BIT12
023037,002283: 25,2466           34736                           CAF      REMODBIT                              #  SET FLAG FOR REMODE.
023038,002284: 25,2467           26110                           ADS      RADMODES                              
023039,002285: 
023040,002286: 25,2470           12412                           TCF      OKDESSM                               
023041,002287: 
023042,002288: 25,2471           02233        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
023043,002289: 25,2472           25113                           INCR     DESRET                                #  TO CALLER +2
023044,002290: 25,2473           12456                           TCF      NORDSTAL                              
023045,002291: 
023046,002292: 25,2474           00074        MAXTRYS            DEC      60         B-14                       
023047,002293: 

Page 543

023049,002295:                                                                                                  #  DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION).  ENTER WITH DESIRED ANGLES IN
023050,002296:                                                                                                  #  TANG AND TANG +1.
023051,002297: 
023052,002298: 25,2475           04645        RRDESNB            TC       MAKECADR                              
023053,002299: 25,2476           55113                           TS       DESRET                                
023054,002300: 
023055,002301: 25,2477           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
023056,002302: 25,2500           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
023057,002303: 25,2501           32474                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
023058,002304: 25,2502           55114                           TS       DESCOUNT                              #  FOR DESIGNATE
023059,002305: 25,2503           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
023060,002306: 25,2504           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023061,002307: 25,2505           01107                           ADRES    TANG                                  
023062,002308: 25,2506           12523                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
023063,002309: 
023064,002310: 25,2507           00003        OKDESNB            RELINT                                         
023065,002311: 25,2510           00006                           EXTEND                                         
023066,002312: 25,2511           31110                           DCA      TANG                                  
023067,002313: 25,2512           53753                           DXCH     TANGNB                                
023068,002314: 25,2513           06037                           TC       INTPRET                               
023069,002315: 
023070,002316: 25,2514           77624                           CALL                                           #  GET LOS IN NB COORDS.
023071,002317: 25,2515           46041                                    RRNB                                  
023072,002318: 25,2516           01102                           STORE    RRTARGET                              
023073,002319: 
023074,002320: 25,2517           77414                           SET      EXIT                                  
023075,002321: 25,2520           00071                                    RRNBSW                                
023076,002322: 
023077,002323: 25,2521           00004                           INHINT                                         
023078,002324: 25,2522           12433                           TCF      STARTDES   +1                         
023079,002325: 25,2523           02233        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
023080,002326: 25,2524           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
023081,002327: 25,2525           01107                           ADRES    TANG                                  
023082,002328: 25,2526           12533                           TCF      NODESNB                               #  NOT POSSIBLE.
023083,002329: 
023084,002330: 25,2527           02233                           TC       RMODINV                               
023085,002331: 25,2530           34736                           CAF      REMODBIT                              #  CALL FOR REMODE.
023086,002332: 25,2531           26110                           ADS      RADMODES                              
023087,002333: 25,2532           12507                           TCF      OKDESNB                               
023088,002334: 
023089,002335: 25,2533           02233        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
023090,002336: 25,2534           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
023091,002337: 25,2535           00502                           OCT      502                                   
023092,002338: 25,2536           06011                           TC       CLRADMOD                              
023093,002339: 25,2537           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
023094,002340: 
023095,002341: 25,2540           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023096,002342: 25,2541           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
023097,002343: 25,2542           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
023098,002344: 25,2543           00006                           EXTEND                                         

Page 544

023100,002346: 25,2544           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
023101,002347: 25,2545           30001                           DCA      0                                     
023102,002348: 25,2546           52062                           DXCH     ITEMP1                                
023103,002349: 25,2547           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
023104,002350: 
023105,002351: 25,2550           34740                           CAF      ANTENBIT                              #  SEE WHICH MODE RR IS IN.
023106,002352: 25,2551           70110                           MASK     RADMODES                              
023107,002353: 25,2552           10000                           CCS      A                                     
023108,002354: 25,2553           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
023109,002355: 25,2554           30061                           CA       ITEMP1                                
023110,002356: 25,2555           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
023111,002357: 25,2556           66161                           DEC      -.30555                               #  1.    ABS(T) L 55 DEGS
023112,002358: 25,2557           00001                           TC       L                                     #  2     SHAFT LIMITS AT +59, -85 DEGS
023113,002359: 
023114,002360: 25,2560           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
023115,002361: 25,2561           00006                           EXTEND                                         
023116,002362: 25,2562           62570                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023117,002363: 25,2563           64562                           AD       5.5DEGS                               
023118,002364: 25,2564           04512        SHAFTLIM           TC       MAGSUB                                
023119,002365: 25,2565           64420                           DEC      -.35833                               #  64.5 DEGREES
023120,002366: 25,2566           00001                           TC       L                                     #  NOT IN LIMITS
023121,002367: 25,2567           04560                           TC       RRLIMOK                               #  IN LIMITS
023122,002368: 25,2570           62572        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023123,002369: 25,2571           12564                           TCF      SHAFTLIM                              
023124,002370: 
023125,002371: 25,2572           03512        20.5DEGS           DEC      .11389                                
023126,002372: 

Page 545

023128,002374:                                                                                                  #  PROGRAM NAME_  BEGDES
023129,002375: 
023130,002376:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023131,002377: 
023132,002378:                                                                                                  #        BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023133,002379:                                                                                                  #        ACTUAL RR DESIGNATION.  INITIALLY A CHECK IS MADE TO SEE IF A
023134,002380:                                                                                                  #        REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS.  IF SO,
023135,002381:                                                                                                  #        CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023136,002382:                                                                                                  #        EXECUTED.  IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023137,002383:                                                                                                  #        FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED.  IF
023138,002384:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023139,002385:                                                                                                  #        AFTER WHICH THE PROGRAM EXITS TO RDBADEND.  IF THE REPOSITION
023140,002386:                                                                                                  #        FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023141,002387:                                                                                                  #        BIT 15) IS CHECKED.  IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023142,002388:                                                                                                  #        MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023143,002389:                                                                                                  #        REPEATING AT STDESIG.  IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023144,002390:                                                                                                  #        TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023145,002391:                                                                                                  #        IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023146,002392:                                                                                                  #        BIT 10) IS CHECKED.  IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023147,002393:                                                                                                  #        CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM.  IF DESIGNATE
023148,002394:                                                                                                  #        IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023149,002395:                                                                                                  #        EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023150,002396:                                                                                                  #        SIGNAL.  IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023151,002397:                                                                                                  #        RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023152,002398:                                                                                                  #        (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023153,002399:                                                                                                  #        (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND.  IF
023154,002400:                                                                                                  #        TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023155,002401:                                                                                                  #        EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023156,002402:                                                                                                  #        BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023157,002403: 
023158,002404:                                                                                                  #  CALLING SEQUENCE:
023159,002405: 
023160,002406:                                                                                                  #        WAITLIST CALL FROM STARTDES
023161,002407:                                                                                                  #        TCF BEGDES FROM DORREPOS
023162,002408:                                                                                                  #        TC STDESIG RETURNING, FROM REMODE
023163,002409: 
023164,002410:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023165,002411:                                                                                                  #        DESCOUNT, RADMODES
023166,002412: 
023167,002413:                                                                                                  #  SUBROUTINES CALLED_
023168,002414:                                                                                                  #        ENDRADAR, FINDVAC
023169,002415: 
023170,002416:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
023171,002417: 
023172,002418:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023173,002419:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023174,002420: 
023175,002421:                                                                                                  #  EXIT_         TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023176,002422:                                                                                                  #                ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023177,002423:                                                                                                  #                RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023178,002424: 
023179,002425: 25,2573           40110        BEGDES             CS       RADMODES                              

Page 546

023181,002427: 25,2574           74736                           MASK     REMODBIT                              
023182,002428: 25,2575           10000                           CCS      A                                     
023183,002429: 25,2576           02602                           TC       STDESIG                               
023184,002430: 25,2577           02171                           TC       REMODE                                
023185,002431: 25,2600           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
023186,002432: 25,2601           00062                           DEC      50         B-14                       
023187,002433: 
023188,002434: 25,2602           34741        STDESIG            CAF      REPOSBIT                              
023189,002435: 25,2603           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023190,002436: 25,2604           10000                           CCS      A                                     #  OUT OF BOUNDS.  IF SO, THIS BIT SHOWS A
023191,002437: 25,2605           12623                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
023192,002438: 
023193,002439: 25,2606           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
023194,002440: 25,2607           12612                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
023195,002441: 25,2610           12612                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023196,002442: 25,2611           12630                           TCF      MOREDES    +1                         
023197,002443: 
023198,002444: 25,2612           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
023199,002445: 25,2613           74742                           MASK     DESIGBIT                              #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023200,002446: 25,2614           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT).  IF SO, EXIT AFTER
023201,002447: 25,2615           13546                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
023202,002448: 
023203,002449: 25,2616           11114        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
023204,002450: 25,2617           12627                           TCF      MOREDES                               
023205,002451: 
023206,002452: 25,2620           42635                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023207,002453: 25,2621           00006                           EXTEND                                         
023208,002454: 25,2622           03012                           WAND     CHAN12                                
023209,002455: 25,2623           44742        BADDES             CS       DESIGBIT                              #  REMOVE DESIGNATE FLAG
023210,002456: 25,2624           70110                           MASK     RADMODES                              
023211,002457: 25,2625           54110                           TS       RADMODES                              
023212,002458: 25,2626           13562                           TCF      RDBADEND                              
023213,002459: 
023214,002460: 25,2627           55114        MOREDES            TS       DESCOUNT                              
023215,002461: 25,2630           37714                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
023216,002462: 25,2631           05105                           TC       FINDVAC                               
023217,002463: 25,2632  E7,1456                                  EBANK=   LOSCOUNT                              
023218,002464: 25,2632           02636 52067                     2CADR    DODES                                 
023219,002465: 
023220,002466: 25,2634           12600                           TCF      DESLOOP                               
023221,002467: 
023222,002468: 25,2635           20002        B14+B2             OCT      20002                                 
023223,002469: 

Page 547

023225,002471:                                                                                                  #  PROGRAM NAME_  DODES
023226,002472: 
023227,002473:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023228,002474: 
023229,002475:                                                                                                  #        DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023230,002476:                                                                                                  #        COMMANDS.  INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023231,002477:                                                                                                  #        THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023232,002478:                                                                                                  #        NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY.  THE
023233,002479:                                                                                                  #        SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023234,002480:                                                                                                  #                + SHAFT = LOS . (COS(S), 0, -SIN(S))  (DOT PRODUCT)
023235,002481:                                                                                                  #                - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023236,002482:                                                                                                  #        THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023237,002483:                                                                                                  #        (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE 
023238,002484:                                                                                                  #        POLARITY OF THE COMMAND.  AT RRSCALUP EACH COMMAND IS
023239,002485:                                                                                                  #        SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023240,002486:                                                                                                  #        .5 DEGREES, MPAC +1 IS SET POSITIVE.  IF A CONTINUOUS DESIGNATE 
023241,002487:                                                                                                  #        (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023242,002488:                                                                                                  #        THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023243,002489:                                                                                                  #        CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023244,002490:                                                                                                  #        IS IN PROGRESS.  IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023245,002491:                                                                                                  #        OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED.  IF NO
023246,002492:                                                                                                  #        CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023247,002493:                                                                                                  #        INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023248,002494:                                                                                                  #        CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023249,002495:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5
023250,002496:                                                                                                  #        DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023251,002497:                                                                                                  #        (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023252,002498:                                                                                                  #        COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023253,002499:                                                                                                  #        PROGRESS.  IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023254,002500:                                                                                                  #        LOCK-ON FLAG (STATE BIT 5) IS CHECKED.  IF NOT PRESENT, THE
023255,002501:                                                                                                  #        DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023256,002502:                                                                                                  #        COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023257,002503:                                                                                                  #        CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023258,002504:                                                                                                  #        BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023259,002505:                                                                                                  #        RR DATA GOOD (CHAN 33 BIT 4) SIGNAL.  IF RR DATA GOOD
023260,002506:                                                                                                  #        PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023261,002507:                                                                                                  #        THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023262,002508:                                                                                                  #        AND ENDOFJOB CALLED.  IF RR DATA GOOD IS NOT PRESENT, RROUT
023263,002509:                                                                                                  #        IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023264,002510:                                                                                                  #        (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023265,002511:                                                                                                  #        VIA ENDOFJOB.
023266,002512: 
023267,002513:                                                                                                  #  CALLING SEQUENCE:
023268,002514: 
023269,002515:                                                                                                  #        EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023270,002516: 
023271,002517:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023272,002518: 
023273,002519:                                                                                                  #        RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023274,002520:                                                                                                  #        LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023275,002521: 
023276,002522:                                                                                                  #  SUBROUTINES CALLED_
023277,002523: 
023278,002524:                                                                                                  #        READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT

Page 548

023280,002526: 
023281,002527:                                                                                                  #  JOBS OR TASKS INITIATED_
023282,002528: 
023283,002529:                                                                                                  #        NONE
023284,002530: 
023285,002531:                                                                                                  #  ALARMS_  NONE
023286,002532: 
023287,002533:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
023288,002534: 
023289,002535: 25,2636           00006        DODES              EXTEND                                         
023290,002536: 25,2637           30036                           DCA      CDUT                                  
023291,002537: 25,2640           53110                           DXCH     TANG                                  
023292,002538: 
023293,002539: 25,2641           06037                           TC       INTPRET                               
023294,002540: 
023295,002541: 25,2642           77201                           SETPD    VLOAD                                 
023296,002542: 25,2643           00001                                    0                                     
023297,002543: 25,2644           01102                                    RRTARGET                              
023298,002544: 25,2645           74214                           BON      VXSC                                  
023299,002545: 25,2646           00311                                    RRNBSW                                
023300,002546: 25,2647           52661                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
023301,002547: 25,2650           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
023302,002548: 25,2651           63372                           VSL1     PDVL                                  
023303,002549: 25,2652           01761                                    LOSVEL                                
023304,002550: 25,2653           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
023305,002551: 25,2654           13072                                    MCTOMS                                
023306,002552: 25,2655           45056                           UNIT     CALL                                  
023307,002553: 25,2656           47537                                    CDUTRIG                               
023308,002554: 25,2657           77624                           CALL                                           
023309,002555: 25,2660           47671                                    *SMNB*                                
023310,002556: 
023311,002557: 25,2661           14041        DONBRD             STODL    32D                                   
023312,002558: 25,2662           01111                                    TANG       +1                         
023313,002559: 25,2663           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
023314,002560: 25,2664           21576                                    CDULOGIC                              #        (-SIN(S)).
023315,002561: 25,2665           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
023316,002562: 25,2666           41546                           COS      PUSH                                  
023317,002563: 25,2667           65205                           DMP      PDDL                                  
023318,002564: 25,2670           00041                                    32D                                   
023319,002565: 25,2671           00045                                    36D                                   
023320,002566: 25,2672           44205                           DMP      BDSU                                  
023321,002567: 25,2673           00001                                    0                                     
023322,002568: 25,2674           77626                           STADR                                          
023323,002569: 25,2675           76666                           STORE    TANG       +1                         #  SHAFT COMMAND
023324,002570: 
023325,002571: 25,2676           47135                           SLOAD    RTB                                   
023326,002572: 25,2677           01110                                    TANG                                  
023327,002573: 25,2700           21576                                    CDULOGIC                              
023328,002574: 25,2701           71406                           PUSH     COS                                   #  COS(T) TO 4.
023329,002575: 25,2702           73525                           PDDL     SIN                                   
023330,002576: 25,2703           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
023331,002577: 25,2704           00003                                    2                                     

Page 549

023333,002579: 25,2705           65352                           SL1      PDDL                                  #  DEFINE VECTOR U =     (SIN(T)SIN(S))
023334,002580: 25,2706           00005                                    4                                     #                        (   COS(T)   )
023335,002581: 25,2707           41325                           PDDL     DMP                                   #                        (SIN(T)COS(S))
023336,002582: 25,2710           00007                                    6                                     
023337,002583: 25,2711           00001                                    0                                     
023338,002584: 25,2712           55552                           SL1      VDEF                                  
023339,002585: 25,2713           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
023340,002586: 25,2714           00041                                    32D                                   
023341,002587: 

Page 550

023343,002589:                                                                                                  #  AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE.  CONVERT THIS TO A
023344,002590:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023345,002591: 
023346,002592: 25,2715           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
023347,002593: 25,2716           00006                           EXTEND                                         
023348,002594: 25,2717           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023349,002595: 25,2720           55107                           TS       TANG                                  #  TRUNNION COMMAND.
023350,002596: 25,2721           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
023351,002597: 25,2722           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
023352,002598: 25,2723           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
023353,002599: 25,2724           12727                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
023354,002600: 25,2725           31110                           CA       TANG       +1                         #  SHAFT ANGLE.  COMPENSATE FOR THIS SWITCH
023355,002601: 25,2726           12730                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
023356,002602: 25,2727           41110                 +3        CS       TANG       +1                         
023357,002603: 25,2730           00006                           EXTEND                                         
023358,002604: 25,2731           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
023359,002605: 25,2732           55110                           TS       TANG       +1                         #  SHAFT COMMAND.
023360,002606: 25,2733           06037                           TC       INTPRET                               
023361,002607: 
023362,002608: 25,2734           41345                           DLOAD    DMP                                   
023363,002609: 25,2735           00003                                    2                                     #  COS(S).
023364,002610: 25,2736           00005                                    4                                     #  COS(T).
023365,002611: 25,2737           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
023366,002612: 25,2740           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
023367,002613: 25,2741           00001                                    0                                     #  SIN(S).
023368,002614: 25,2742           72405                           DMP      SL1                                   
023369,002615: 25,2743           00005                                    4                                     #  COS(T).
023370,002616: 25,2744           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
023371,002617: 25,2745           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
023372,002618: 25,2746           52751                                    +3                                    
023373,002619: 25,2747           77624                           CALL                                           
023374,002620: 25,2750           47673                                    *NBSM*                                #  GET URR IN SM AXES.
023375,002621: 25,2751           77441                           DOT      EXIT                                  
023376,002622: 25,2752           01102                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
023377,002623: 
023378,002624: 25,2753           00006                           EXTEND                                         
023379,002625: 25,2754           43070                           DCS      COS1/2DG                              
023380,002626: 25,2755           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
023381,002627: 25,2756           10154                           CCS      MPAC                                  
023382,002628: 25,2757           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
023383,002629: 25,2760           12762                           TCF      +2                                    
023384,002630: 25,2761           34753                           CA       ONE                                   
023385,002631: 25,2762           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.

Page 551

023387,002633:                                                                                                  #  SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023388,002634: 
023389,002635: 25,2763           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023390,002636: 25,2764           12767                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
023391,002637: 25,2765           12767                           TCF      SIGNLCHK                              #  ERROR SIGNALS
023392,002638: 25,2766           13017                           TCF      DORROUT                               
023393,002639: 25,2767           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023394,002640: 25,2770           13000                           TCF      DGOODCHK                              
023395,002641: 25,2771           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023396,002642: 25,2772           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
023397,002643: 25,2773           10000                           CCS      A                                     
023398,002644: 25,2774           13005                           TCF      RRDESDUN                              
023399,002645: 
023400,002646: 25,2775           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
023401,002647: 25,2776           00006                           EXTEND                                         
023402,002648: 25,2777           05012                           WOR      CHAN12                                
023403,002649: 
023404,002650: 25,3000           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
023405,002651: 25,3001           00006                           EXTEND                                         
023406,002652: 25,3002           02033                           RAND     CHAN33                                
023407,002653: 25,3003           10000                           CCS      A                                     
023408,002654: 25,3004           13017                           TCF      DORROUT                               
023409,002655: 
023410,002656: 25,3005           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023411,002657: 25,3006           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
023412,002658: 25,3007           00004                           INHINT                                         
023413,002659: 25,3010           54110                           TS       RADMODES                              
023414,002660: 
023415,002661: 25,3011           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
023416,002662: 25,3012           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
023417,002663: 25,3013           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
023418,002664: 25,3014           00006                           EXTEND                                         
023419,002665: 25,3015           03012                           WAND     CHAN12                                
023420,002666: 25,3016           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
023421,002667: 
023422,002668: 25,3017           30076        DORROUT            CA       FLAGWRD2                              #  IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023423,002669: 25,3020           77712                           MASK     BIT12,14                              #  ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023424,002670: 25,3021           00006                           EXTEND                                         
023425,002671: 25,3022           13041                           BZF      NOTP20                                
023426,002672: 25,3023           06037                           TC       INTPRET                               
023427,002673: 25,3024           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
023428,002674: 25,3025           01102                                    RRTARGET                              
023429,002675: 25,3026           01767                                    MLOSV                                 
023430,002676: 25,3027           41572                           VSL1     PUSH                                  
023431,002677: 25,3030           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
023432,002678: 25,3031           01761                                    LOSVEL                                #  TO LOS VECTOR
023433,002679: 25,3032           13072                                    MCTOMS                                
023434,002680: 25,3033           53362                           VSR1     VAD                                   
023435,002681: 25,3034           77656                           UNIT                                           
023436,002682: 25,3035           15102                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)

Page 552

023438,002684: 25,3036           00045                                    36D                                   
023439,002685: 25,3037           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
023440,002686: 25,3040           77776                           EXIT                                           
023441,002687: 25,3041           00004        NOTP20             INHINT                                         
023442,002688: 25,3042           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
023443,002689: 25,3043           74741                           MASK     REPOSBIT                              #  REPOSITION HAS TAKEN OVER.
023444,002690: 25,3044           10000                           CCS      A                                     
023445,002691: 25,3045           02306                           TC       RROUT                                 
023446,002692: 
023447,002693: 25,3046           30076                           CA       FLAGWRD2                              
023448,002694: 25,3047           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
023449,002695: 25,3050           00006                           EXTEND                                         #  LOS COUNTER
023450,002696: 25,3051           15155                           BZF      ENDOFJOB                              
023451,002697: 25,3052           11456                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
023452,002698: 25,3053           03064                           TC       DODESEND                              #  A NEW LOS
023453,002699: 25,3054           00004                           INHINT                                         
023454,002700: 25,3055           06027                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
023455,002701: 25,3056           52602                           CADR     DESLOOP    +2                         
023456,002702: 25,3057           00003                           RELINT                                         
023457,002703: 25,3060           10067                           CCS      NEWJOB                                
023458,002704: 25,3061           05122                           TC       CHANG1                                
023459,002705: 25,3062           04616                           TC       BANKCALL                              
023460,002706: 25,3063           50731                           CADR     R21LEM2                               
023461,002707: 
023462,002708: 25,3064           55456        DODESEND           TS       LOSCOUNT                              
023463,002709: 25,3065           05155                           TC       ENDOFJOB                              
023464,002710: 
023465,002711: 25,3066           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
023466,002712: 25,3067     7712               BIT12,14           EQUALS   PRIO24                                #  OCT 24000
023467,002713: 25,3067           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
023468,002714: 25,3071           00310 00000  MCTOMS             2DEC     100        B-13                       
023469,002715: 

Page 553

023471,002717:                                                                                                  #  RADAR READ INITIALIZATION
023472,002718: 
023473,002719:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023474,002720: 
023475,002721: 25,3073           03113        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
023476,002722: 25,3074           00017        ALLREAD            OCT      17                                    
023477,002723: 
023478,002724: 25,3075           03114        LRVELZ             TC       INITREAD                              
023479,002725: 25,3076           00016                           OCT      16                                    
023480,002726: 
023481,002727: 25,3077           03114        LRVELY             TC       INITREAD                              
023482,002728: 25,3100           00015                           OCT      15                                    
023483,002729: 
023484,002730: 25,3101           03114        LRVELX             TC       INITREAD                              
023485,002731: 25,3102           00014                           OCT      14                                    
023486,002732: 
023487,002733: 25,3103           03113        RRRDOT             TC       INITREAD   -1                         
023488,002734: 25,3104           00012                           OCT      12                                    
023489,002735: 
023490,002736: 25,3105           03113        RRRANGE            TC       INITREAD   -1                         
023491,002737: 25,3106           00011                           OCT      11                                    
023492,002738: 
023493,002739:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023494,002740:                                                                                                  #  WANTED.  ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023495,002741: 
023496,002742: 25,3107           55105        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
023497,002743: 25,3110           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
023498,002744: 25,3111           51105                           INDEX    TIMEHOLD                              
023499,002745: 25,3112           13075                           TCF      LRVELZ                                
023500,002746: 

Page 554

023502,002748: 25,3113           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
023503,002749: 25,3114           00004        INITREAD           INHINT                                         
023504,002750: 
023505,002751: 25,3115           55105                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
023506,002752: 25,3116           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023507,002753: 25,3117           74751                           MP       BIT3                                  #  ENCOUNTERED).
023508,002754: 25,3120           53106                           DXCH     TIMEHOLD                              
023509,002755: 
023510,002756: 25,3121           10000                           CCS      A                                     
023511,002757: 25,3122           55111                           TS       NSAMP                                 
023512,002758: 25,3123           64753                           AD       ONE                                   
023513,002759:                                                                                                  #  INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023514,002760:                                                                                                  #                DOUBLE
023515,002761: 25,3124           55100                           TS       SAMPLIM                               
023516,002762: 
023517,002763: 25,3125           33147                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
023518,002764: 25,3126           00006                           EXTEND                                         
023519,002765: 25,3127           02033                           RAND     CHAN33                                
023520,002766: 25,3130           55113                           TS       OLDATAGD                              
023521,002767: 
023522,002768: 25,3131           43074                           CS       ALLREAD                               
023523,002769: 25,3132           00006                           EXTEND                                         
023524,002770: 25,3133           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
023525,002771: 
023526,002772: 25,3134           50002                           INDEX    Q                                     
023527,002773: 25,3135           30000                           CAF      0                                     
023528,002774: 25,3136           00006                           EXTEND                                         
023529,002775: 25,3137           05013                           WOR      CHAN13                                #  SET NEW RADAR BITS
023530,002776: 
023531,002777: 25,3140           00006                           EXTEND                                         
023532,002778: 25,3141           30025                           DCA      TIME2                                 
023533,002779: 25,3142           21106                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
023534,002780: 
023535,002781: 25,3143           34755                           CAF      ZERO                                  
023536,002782: 25,3144           54001                           TS       L                                     
023537,002783: 25,3145           53102                           DXCH     SAMPLSUM                              
023538,002784: 25,3146           12366                           TCF      ROADBACK                              
023539,002785: 
023540,002786: 25,3147           00230        DGBITS             OCT      230                                   
023541,002787: 

Page 555

023543,002789:                                                                                                  #  RADAR RUPT READER
023544,002790: 
023545,002791:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT.  IT READS THE DATA $ LOTS MORE.
023546,002792: 
023547,002793: 25,2000                                           SETLOC   RADARUPT                              
023548,002794: 25,2000                                           BANK                                           
023549,002795: 
023550,002796: 25,3150                                           COUNT*   $$/RRUPT                              
023551,002797: 25,3150           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
023552,002798: 25,3151           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
023553,002799: 25,3152           54016                           TS       BANKRUPT                              
023554,002800: 25,3153           00006                           EXTEND                                         
023555,002801: 25,3154           22012                           QXCH     QRUPT                                 
023556,002802: 
023557,002803: 25,3155           34757                           CAF      SEVEN                                 
023558,002804: 25,3156           00006                           EXTEND                                         
023559,002805: 25,3157           02013                           RAND     CHAN13                                
023560,002806: 25,3160           55335                           TS       DNINDEX                               
023561,002807: 25,3161           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO, DO NOT STORE
023562,002808: 25,3162           13166                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023563,002809: 25,3163           30046                           CA       RNRAD                                 
023564,002810: 25,3164           51335                           INDEX    DNINDEX                               
023565,002811: 25,3165           55332                           TS       DNRRANGE   -1                         
023566,002812: 25,3166           11100        TRYCOUNT           CCS      SAMPLIM                               
023567,002813: 25,3167           13211                           TCF      PLENTY                                
023568,002814: 25,3170           13174                           TCF      NOMORE                                
023569,002815: 25,3171           05567                           TC       ALARM                                 
023570,002816: 25,3172           00520                           OCT      520                                   
023571,002817: 25,3173           05270                           TC       RESUME                                
023572,002818: 
023573,002819: 25,3174           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
023574,002820: 25,3175           74735                           MASK     LRBYBIT                               
023575,002821: 25,3176           00006                           EXTEND                                         
023576,002822: 25,3177           13206                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
023577,002823: 
023578,002824: 25,3200           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
023579,002825: 25,3201           74743                           MASK     R04FLBIT                              #  IF 1, R04 IS RUNNING.  DO NOT ALARM-
023580,002826: 25,3202           00006                           EXTEND                                         
023581,002827: 25,3203           13206                           BZF      BADRAD                                
023582,002828: 
023583,002829: 25,3204           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
023584,002830: 25,3205           00521                           OCT      521                                   
023585,002831: 25,3206           44753        BADRAD             CS       ONE                                   
023586,002832: 25,3207           55100                           TS       SAMPLIM                               
023587,002833: 25,3210           03560                           TC       RDBADEND   -2                         
023588,002834: 25,3211           55100        PLENTY             TS       SAMPLIM                               
023589,002835: 25,3212           34751                           CAF      BIT3                                  
023590,002836: 25,3213           00006                           EXTEND                                         
023591,002837: 25,3214           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
023592,002838: 25,3215           00006                           EXTEND                                         

Page 556

023594,002840: 25,3216           13276                           BZF      RENDRAD                               
023595,002841: 
023596,002842: 25,3217           03364                           TC       R77CHECK                              #  R77 QUITS HERE.
023597,002843: 25,3220           30110        LRPOSCHK           CA       RADMODES                              #  SEE IF LR IN DESIRED POSITION.
023598,002844: 25,3221           00006                           EXTEND                                         
023599,002845: 25,3222           06033                           RXOR     CHAN33                                
023600,002846: 25,3223           74746                           MASK     BIT6                                  
023601,002847: 25,3224           00006                           EXTEND                                         
023602,002848: 25,3225           13231                           BZF      VELCHK                                
023603,002849: 
023604,002850: 25,3226           05567                           TC       ALARM                                 
023605,002851: 25,3227           00522                           OCT      522                                   
023606,002852: 25,3230           03206                           TC       BADRAD                                
023607,002853: 
023608,002854: 25,3231           36245        VELCHK             CAF      BIN3                                  #  = 00003 OCT
023609,002855: 25,3232           00006                           EXTEND                                         
023610,002856: 25,3233           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
023611,002857: 25,3234           76245                           MASK     BIN3                                  
023612,002858: 25,3235           00006                           EXTEND                                         
023613,002859: 25,3236           13272                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
023614,002860: 
023615,002861: 25,3237           34733                           CAF      POSMAX                                
023616,002862: 25,3240           70046                           MASK     RNRAD                                 
023617,002863: 25,3241           62000                           AD       LVELBIAS                              
023618,002864: 25,3242           54001                           TS       L                                     
023619,002865: 25,3243           30046                           CAE      RNRAD                                 
023620,002866: 25,3244           60000                           DOUBLE                                         
023621,002867: 25,3245           74753                           MASK     BIT1                                  
023622,002868: 25,3246           52064                           DXCH     ITEMP3                                
023623,002869: 
023624,002870: 25,3247           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023625,002871: 25,3250           03442                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
023626,002872:                                                                                                  #  INDEPENDENT OF DATA GOOD.
023627,002873: 
023628,002874: 25,3251           11111                           CCS      NSAMP                                 
023629,002875: 25,3252           03262                           TC       NOEND                                 
023630,002876: 25,3253           44753        GOODRAD            CS       ONE                                   
023631,002877: 25,3254           55100                           TS       SAMPLIM                               
023632,002878: 25,3255           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023633,002879: 25,3256           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
023634,002880: 25,3257           54110                           TS       RADMODES                              
023635,002881: 25,3260           03616                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
023636,002882: 25,3261           03553                           TC       RGOODEND   -2                         
023637,002883: 
023638,002884: 25,3262           55111        NOEND              TS       NSAMP                                 
023639,002885: 25,3263           11100        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
023640,002886: 25,3264           13266                           TCF      +2                                    
023641,002887: 25,3265           13461                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
023642,002888: 25,3266           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
023643,002889: 25,3267           00006                           EXTEND                                         

Page 557

023645,002891: 25,3270           05013                           WOR      CHAN13                                #  RESET ACTIVITY BIT
023646,002892: 25,3271           05270                           TC       RESUME                                
023647,002893: 
023648,002894: 
023649,002895: 25,3272           34747        LRHEIGHT           CAF      BIT5                                  
023650,002896: 25,3273           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
023651,002897: 
023652,002898: 25,3274           34743                           CAF      BIT9                                  
023653,002899: 25,3275           03320                           TC       SCALECHK   -1                         
023654,002900: 
023655,002901: 25,3276           34741        RENDRAD            CAF      REPOSBIT                              #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
023656,002902: 25,3277           70110                           MASK     RADMODES                              #  LIMITS.
023657,002903: 25,3300           10000                           CCS      A                                     
023658,002904: 25,3301           13206                           TCF      BADRAD                                
023659,002905: 
023660,002906: 25,3302           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
023661,002907: 25,3303           74745                           MASK     RCDUFBIT                              
023662,002908: 25,3304           10000                           CCS      A                                     
023663,002909: 25,3305           13206                           TCF      BADRAD                                
023664,002910: 
023665,002911: 25,3306           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
023666,002912: 25,3307           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
023667,002913: 
023668,002914: 25,3310           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
023669,002915: 25,3311           00006                           EXTEND                                         
023670,002916: 25,3312           02013                           RAND     CHAN13                                
023671,002917: 25,3313           54002                           TS       Q                                     #  FOR LATER TESTING.
023672,002918: 25,3314           10000                           CCS      A                                     
023673,002919: 25,3315           13317                           TCF      +2                                    
023674,002920: 25,3316           13331                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
023675,002921: 25,3317           34751                           CAF      BIT3                                  
023676,002922: 25,3320           54001                           TS       L                                     
023677,002923: 
023678,002924: 25,3321           00006        SCALECHK           EXTEND                                         
023679,002925: 25,3322           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
023680,002926: 25,3323           56001                           XCH      L                                     
023681,002927: 25,3324           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
023682,002928: 25,3325           00006                           EXTEND                                         
023683,002929: 25,3326           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
023684,002930: 25,3327           10000                           CCS      A                                     
023685,002931: 25,3330           03350                           TC       SCALCHNG                              #  THEY DIFFER
023686,002932: 
023687,002933: 25,3331           34733        RADIN              CAF      POSMAX                                
023688,002934: 25,3332           70046                           MASK     RNRAD                                 
023689,002935: 25,3333           54064                           TS       ITEMP4                                
023690,002936: 
023691,002937: 25,3334           30046                           CAE      RNRAD                                 
023692,002938: 25,3335           60000                           DOUBLE                                         
023693,002939: 25,3336           74753                           MASK     BIT1                                  
023694,002940: 25,3337           54063                           TS       ITEMP3                                

Page 558

023696,002942: 25,3340           10002                           CCS      Q                                     #  SEE IF RR RDOT.
023697,002943: 25,3341           13402                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
023698,002944: 
023699,002945: 25,3342           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
023700,002946: 25,3343           42002                           DCS      RDOTBIAS                              
023701,002947: 25,3344           20064        DASAMPL            DAS      ITEMP3                                
023702,002948: 25,3345           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
023703,002949: 25,3346           03443                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
023704,002950: 25,3347           03253                           TC       GOODRAD                               
023705,002951: 
023706,002952: 25,3350           22110        SCALCHNG           LXCH     RADMODES                              
023707,002953: 25,3351           64753                           AD       BIT1                                  
023708,002954: 25,3352           00006                           EXTEND                                         
023709,002955: 25,3353           06001                           RXOR     LCHAN                                 
023710,002956: 25,3354           54110                           TS       RADMODES                              
023711,002957: 25,3355           33147                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
023712,002958: 25,3356           00006                           EXTEND                                         
023713,002959: 25,3357           02033                           RAND     CHAN33                                
023714,002960: 25,3360           55113                           TS       OLDATAGD                              
023715,002961: 25,3361           05504                           TC       UPFLAG                                #  SET RNGSCFLG
023716,002962: 25,3362           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
023717,002963: 25,3363           13206                           TCF      BADRAD                                
023718,002964: 
023719,002965:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023720,002966: 
023721,002967: 25,3364           40101        R77CHECK           CS       FLAGWRD5                              
023722,002968: 25,3365           74741                           MASK     R77FLBIT                              
023723,002969: 25,3366           10000                           CCS      A                                     
023724,002970: 25,3367           00002                           TC       Q                                     #  NOT R77
023725,002971: 25,3370           43401                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
023726,002972: 25,3371           70110                           MASK     RADMODES                              
023727,002973: 25,3372           54001                           TS       L                                     
023728,002974: 25,3373           33401                           CA       BITS5,8                               
023729,002975: 25,3374           00006                           EXTEND                                         
023730,002976: 25,3375           02033                           RAND     CHAN33                                
023731,002977: 25,3376           60001                           AD       L                                     
023732,002978: 25,3377           54110                           TS       RADMODES                              
023733,002979: 25,3400           03553                           TC       RGOODEND   -2                         
023734,002980: 25,3401           00220        BITS5,8            OCT      220                                   
023735,002981: 

Page 559

023737,002983:                                                                                                  #  THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023738,002984: 
023739,002985: 25,3402           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
023740,002986: 25,3403           13405                           TCF      +2                                    #  ON HIGH SCALE.
023741,002987: 25,3404           13345                           TCF      DGCHECK2                              
023742,002988: 
023743,002989: 25,3405           31335                           CA       DNINDEX                               
023744,002990: 25,3406           74751                           MASK     BIT3                                  
023745,002991: 25,3407           10000                           CCS      A                                     
023746,002992: 25,3410           13417                           TCF      LRSCK                                 
023747,002993: 
023748,002994: 25,3411           52064                           DXCH     ITEMP3                                
023749,002995: 25,3412           20001                           DDOUBL                                         
023750,002996: 25,3413           20001                           DDOUBL                                         
023751,002997: 25,3414           20001                           DDOUBL                                         
023752,002998: 25,3415           52064                           DXCH     ITEMP3                                
023753,002999: 
023754,003000: 25,3416           13345                           TCF      DGCHECK2                              
023755,003001: 
023756,003002: 25,3417           10063        LRSCK              CCS      ITEMP3                                
023757,003003: 25,3420           13431                           TCF      +11                                   
023758,003004: 25,3421           40064                           CS       ITEMP4                                
023759,003005: 25,3422           63441                           AD       HISCALIM                              
023760,003006: 25,3423           00006                           EXTEND                                         
023761,003007: 25,3424           63431                           BZMF     +5                                    
023762,003008: 
023763,003009: 25,3425           40107                           CS       FLGWRD11                              
023764,003010: 25,3426           74751                           MASK     SCABBIT                               
023765,003011: 25,3427           26107                           ADS      FLGWRD11                              
023766,003012: 25,3430           13434                           TCF      +4                                    
023767,003013: 
023768,003014: 25,3431           44751                           CS       SCABBIT                               
023769,003015: 25,3432           70107                           MASK     FLGWRD11                              
023770,003016: 25,3433           54107                           TS       FLGWRD11                              
023771,003017: 
023772,003018: 25,3434           00006                           EXTEND                                         
023773,003019: 25,3435           30064                           DCA      ITEMP3                                
023774,003020: 25,3436           20001                           DDOUBL                                         
023775,003021: 25,3437           20001                           DDOUBL                                         
023776,003022: 25,3440           13344                           TCF      DASAMPL                               
023777,003023: 
023778,003024: 25,3441           00714        HISCALIM           DEC      460        B-14                       #  2481.7 FT *****************************

Page 560

023780,003026: 25,3442           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
023781,003027: 25,3443           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
023782,003028: 25,3444           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING.  IF
023783,003029: 25,3445           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN.  IF
023784,003030: 25,3446           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
023785,003031: 25,3447           71113                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
023786,003032: 25,3450           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
023787,003033: 25,3451           57113                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
023788,003034: 25,3452           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
023789,003035: 25,3453           60001                           AD       L                                     
023790,003036: 25,3454           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
023791,003037: 25,3455           03263                           TC       RESAMPLE                              
023792,003038: 25,3456           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
023793,003039: 25,3457           21102                           DAS      SAMPLSUM                              #  ACCUMULATION.
023794,003040: 25,3460           00002                           TC       Q                                     
023795,003041: 
023796,003042: 25,3461           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
023797,003043: 25,3462           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
023798,003044: 25,3463           60061                           AD       ITEMP1                                
023799,003045: 25,3464           54110                           TS       RADMODES                              
023800,003046: 
023801,003047: 25,3465           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
023802,003048: 25,3466           53102                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.
023803,003049: 25,3467           03616                           TC       RADLITES                              
023804,003050: 25,3470           13174                           TCF      NOMORE                                

Page 561

023806,003052:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
023807,003053: 
023808,003054: 25,2000                                           SETLOC   P20S1                                 
023809,003055: 25,2000                                           BANK                                           
023810,003056: 
023811,003057: 25,3471                                           COUNT*   $$/RSUB                               
023812,003058: 25,3471           00004        LRPOS2             INHINT                                         
023813,003059: 
023814,003060: 25,3472           40110                           CS       RADMODES                              
023815,003061: 25,3473           74746                           MASK     LRPOSBIT                              #  SHOW DESIRED LR POSITION IS 2
023816,003062: 25,3474           26110                           ADS      RADMODES                              
023817,003063: 
023818,003064: 25,3475           34745                           CAF      BIT7                                  
023819,003065: 25,3476           00006                           EXTEND                                         
023820,003066: 25,3477           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
023821,003067: 25,3500           00006                           EXTEND                                         
023822,003068: 25,3501           13530                           BZF      RADNOOP                               
023823,003069: 
023824,003070: 25,3502           34737                           CAF      BIT13                                 
023825,003071: 25,3503           00006                           EXTEND                                         
023826,003072: 25,3504           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
023827,003073: 25,3505           33545                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
023828,003074: 25,3506           05203                           TC       WAITLIST                              
023829,003075: 25,3507  E7,1456                                  EBANK=   LOSCOUNT                              
023830,003076: 25,3507           03543 52067                     2CADR    LRPOSCAN                              
023831,003077: 
023832,003078: 25,3511           02366                           TC       ROADBACK                              
023833,003079: 
023834,003080: 25,3512           55100        LRPOSNXT           TS       SAMPLIM                               
023835,003081: 25,3513           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
023836,003082: 25,3514           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
023837,003083: 
023838,003084: 25,3515           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
023839,003085: 25,3516           00006                           EXTEND                                         
023840,003086: 25,3517           02033                           RAND     CHAN33                                
023841,003087: 25,3520           00006                           EXTEND                                         
023842,003088: 25,3521           13535                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
023843,003089: 
023844,003090: 25,3522           11100                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
023845,003091: 25,3523           13512                           TCF      LRPOSNXT                              
023846,003092: 
023847,003093: 25,3524           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
023848,003094: 25,3525           00006                           EXTEND                                         
023849,003095: 25,3526           03012                           WAND     CHAN12                                
023850,003096: 25,3527           13562                           TCF      RDBADEND                              
023851,003097: 
023852,003098: 25,3530           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
023853,003099: 25,3531           05203                           TC       WAITLIST                              
023854,003100: 25,3532  E7,1456                                  EBANK=   LOSCOUNT                              
023855,003101: 25,3532           03555 52067                     2CADR    RGOODEND                              

Page 562

023857,003103: 25,3534           02366                           TC       ROADBACK                              
023858,003104: 
023859,003105: 25,3535           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
023860,003106: 25,3536           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
023861,003107: 
023862,003108: 25,3537           44737                           CS       BIT13                                 #  REMOVE COMMAND
023863,003109: 25,3540           00006                           EXTEND                                         
023864,003110: 25,3541           03012                           WAND     CHAN12                                
023865,003111: 25,3542           13555                           TCF      RGOODEND                              
023866,003112: 
023867,003113: 25,3543           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
023868,003114: 25,3544           13512                           TCF      LRPOSNXT                              
023869,003115: 25,3545           01130        6SECS              DEC      600        B-14                       

Page 563

023871,003117:                                                                                                  #  SEQUENCES TO TERMINATE RR OPERATIONS.
023872,003118: 
023873,003119: 25,3546           34745        ENDRADAR           CAF      RCDUFBIT                              #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
023874,003120: 25,3547           70110                           MASK     RADMODES                              
023875,003121: 25,3550           10000                           CCS      A                                     
023876,003122: 25,3551           13555                           TCF      RGOODEND                              
023877,003123: 25,3552           13562                           TCF      RDBADEND                              
023878,003124: 25,3553           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
023879,003125: 25,3554           54734                           TS       RUPTAGN                               
023880,003126: 
023881,003127: 25,3555           34752        RGOODEND           CAF      TWO                                   
023882,003128: 25,3556           04635                           TC       POSTJUMP                              
023883,003129: 25,3557           17665                           CADR     GOODEND                               
023884,003130: 
023885,003131: 25,3560           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
023886,003132: 25,3561           54734                           TS       RUPTAGN                               
023887,003133: 25,3562           34752        RDBADEND           CAF      TWO                                   
023888,003134: 25,3563           04635                           TC       POSTJUMP                              
023889,003135: 25,3564           17662                           CADR     BADEND                                
023890,003136: 
023891,003137: 25,3565     6245               BIN3               EQUALS   THREE                                 
023892,003138: 

Page 564

023894,003140:                                                                                                  #  PROGRAM NAME_  LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
023895,003141:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
023896,003142: 
023897,003143:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023898,003144:                                                                                                  #        1)      EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
023899,003145:                                                                                                  #        2)      COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
023900,003146:                                                                                                  #        3)      COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
023901,003147: 
023902,003148:                                                                                                  #  CALLING SEQUENCE      CALL
023903,003149:                                                                                                  #                                LPS20.1
023904,003150: 
023905,003151:                                                                                                  #  SUBROUTINES CALLED_
023906,003152:                                                                                                  #        LEMPREC, CSMPREC
023907,003153: 
023908,003154:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER + 2
023909,003155: 
023910,003156:                                                                                                  #  ERROR EXITS_  NONE
023911,003157: 
023912,003158:                                                                                                  #  ALARMS_  NONE
023913,003159: 
023914,003160:                                                                                                  #  OUTPUT_
023915,003161:                                                                                                  #        LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
023916,003162:                                                                                                  #        MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
023917,003163:                                                                                                  #        RRNBSW CLEARED
023918,003164: 
023919,003165:                                                                                                  #  INITIALIZED ERASEABLE
023920,003166:                                                                                                  #        TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
023921,003167:                                                                                                  #        SEE ORBITAL INTEGRATION ROUTINE
023922,003168: 
023923,003169:                                                                                                  #  DEBRIS_
023924,003170:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
023925,003171: 
023926,003172: 23,2314                                           BANK     23                                    
023927,003173: 24,2000                                           SETLOC   P20S                                  
023928,003174: 24,2000                                           BANK                                           

Page 565

023930,003176: 24,3255                                           COUNT*   $$/LPS20                              
023931,003177: 
023932,003178: 24,3255           43020        LPS20.1            STQ      BOFF                                  
023933,003179: 24,3256           01757                                    LS21X                                 
023934,003180: 24,3257           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
023935,003181: 24,3260           51264                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
023936,003182: 24,3261           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
023937,003183: 24,3262           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
023938,003184: 24,3263           51274                                    CSMINT                                
023939,003185: 24,3264           77624        LMINT              CALL                                           
023940,003186: 24,3265           27100                                    LEMCONIC                              #  EXTRAPOLATE LEM
023941,003187: 24,3266           77775                           VLOAD                                          
023942,003188: 24,3267           00001                                    RATT                                  
023943,003189: 24,3270           26352                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
023944,003190: 24,3271           00007                                    VATT                                  
023945,003191: 24,3272           16360                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
023946,003192: 24,3273           00015                                    TAT                                   
023947,003193: 24,3274           34041        CSMINT             STCALL   TDEC1                                 
023948,003194: 24,3275           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM
023949,003195: 24,3276           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
023950,003196: 24,3277           00007                                    VATT                                  
023951,003197: 24,3300           02360                                    LMVEL                                 
023952,003198: 24,3301           76521                           MXV      VSL1                                  
023953,003199: 24,3302           01734                                    REFSMMAT                              
023954,003200: 24,3303           77776                           EXIT                                           
023955,003201: 24,3304           06027                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
023956,003202: 24,3305           52602                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
023957,003203: 24,3306           06037                           TC       INTPRET                               
023958,003204: 24,3307           25761                           STOVL    LOSVEL                                
023959,003205: 24,3310           00001                                    RATT                                  
023960,003206: 24,3311           43051                           VSU      BOFF                                  
023961,003207: 24,3312           02352                                    LMPOS                                 
023962,003208: 24,3313           00350                                    RNDVZFLG                              
023963,003209: 24,3314           51321                                    NOTSHIFT                              
023964,003210: 24,3315           77604                           BOVB                                           
023965,003211: 24,3316           57753                                    TCDANZIG                              
023966,003212: 24,3317           77661                           VSL                                            
023967,003213: 24,3320           20212                                    9D                                    
023968,003214: 24,3321           41056        NOTSHIFT           UNIT     BOVB                                  #  IF OVERFLOW, RANGE MUST BE GREATER
023969,003215: 24,3322           50102                                    526ALARM                              #  THAN 400 N. M.
023970,003216: 24,3323           76521                           MXV      VSL1                                  
023971,003217: 24,3324           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
023972,003218: 24,3325           15102                           STODL    RRTARGET                              
023973,003219: 24,3326           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
023974,003220: 24,3327           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
023975,003221: 24,3330           77614                           CLRGO                                          
023976,003222: 24,3331           00231                                    RRNBSW                                
023977,003223: 24,3332           01757                                    LS21X                                 
023978,003224: 

Page 566

023980,003226:                                                                                                  #  PROGRAM NAME_  LPS20.2  400 NM RANGE CHECK
023981,003227:                                                                                                  #  MOD. NO. 2    BY J.D. COYNE   SDC     DATE 12-7-66
023982,003228: 
023983,003229:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023984,003230:                                                                                                  #        COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
023985,003231: 
023986,003232:                                                                                                  #  CALLING SEQUENCE      CALL
023987,003233:                                                                                                  #                                LPS20.2
023988,003234: 
023989,003235:                                                                                                  #  SUBROUTINES CALLED_  NONE
023990,003236: 
023991,003237:                                                                                                  #  NORMAL EXIT_  RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
023992,003238: 
023993,003239:                                                                                                  #  ERROR EXITS_  RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
023994,003240: 
023995,003241:                                                                                                  #  ALARMS_  NONE
023996,003242: 
023997,003243:                                                                                                  #  OUTPUT_  NONE
023998,003244: 
023999,003245:                                                                                                  #  INITIALIZED ERASEABLE_
024000,003246:                                                                                                  #        PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024001,003247: 
024002,003248:                                                                                                  #  DEBRIS
024003,003249:                                                                                                  #        MPAC DESTROYED BY THIS ROUTINE
024004,003250: 
024005,003251: 25,2000                                           SETLOC   P20S1                                 
024006,003252: 25,2000                                           BANK                                           
024007,003253: 25,3565                                           COUNT*   $$/LPS20                              
024008,003254: 
024009,003255: 25,3565           45345        LPS20.2            DLOAD    DSU                                   
024010,003256: 25,3566           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
024011,003257: 25,3567           13600                                    FHNM                                  #  OVER 400NM  _
024012,003258: 25,3570           77644                           BPL                                            
024013,003259: 25,3571           53574                                    TOFAR                                 
024014,003260: 25,3572           43535                           SLOAD    RVQ                                   
024015,003261: 25,3573           06522                                    ZERO/SP                               
024016,003262: 25,3574           43535        TOFAR              SLOAD    RVQ                                   
024017,003263: 25,3575           13577                                    ONE/SP                                
024018,003264: 25,3576           00001        ONE/SP             DEC      1          B-14                       

Page 567

024020,003266: 25,3577           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
024021,003267: 

Page 568

024023,003269:                                                                                                  #  PROGRAM NAME:  LRS22.1 (DATA READ SUBROUTINE 1)
024024,003270:                                                                                                  #  MOD. NO.: 1           BY: P. VOLANTE  SDC             DATE:  11-15-66
024025,003271: 
024026,003272:                                                                                                  #  FUNCTIONAL DESCRIPTION
024027,003273:                                                                                                  #        1)      READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME.  CONVERTS THIS
024028,003274:                                                                                                  #                DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3).  CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024029,003275:                                                                                                  #                RR REPOSITION AND RR CDU FAIL
024030,003276:                                                                                                  #        2)      COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024031,003277: 
024032,003278:                                                                                                  #  CALLING SEQUENCE:  BANKCALL FOR LRS22.1
024033,003279: 
024034,003280:                                                                                                  #  SUBROUTINES CALLED:
024035,003281:                                                                                                  #        RRRDOT          LPS20.1
024036,003282:                                                                                                  #        RRRANGE         BANKCALL
024037,003283:                                                                                                  #        RADSTALL        CDULOGIC
024038,003284:                                                                                                  #        RRNB            SMNB
024039,003285: 
024040,003286:                                                                                                  #  NORMAL EXIT:  RETURN TO CALLER+1 WITH MPAC SET TO +0
024041,003287: 
024042,003288:                                                                                                  #  ERROR EXITS:  RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024043,003289:                                                                                                  #        00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024044,003290:                                                                                                  #        00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024045,003291: 
024046,003292:                                                                                                  #  ALARMS:  521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024047,003293:                                                                                                  #        (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024048,003294: 
024049,003295:                                                                                                  #  OUTPUT:  RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024050,003296:                                                                                                  #        RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024051,003297: 
024052,003298:                                                                                                  #        ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024053,003299:                                                                                                  #                RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024054,003300:                                                                                                  #                RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024055,003301:                                                                                                  #                RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024056,003302:                                                                                                  #                AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024057,003303:                                                                                                  #                MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024058,003304: 
024059,003305:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024060,003306:                                                                                                  #        RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:

Page 569

024062,003308:                                                                                                  #                1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024063,003309:                                                                                                  #                2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024064,003310:                                                                                                  #        THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024065,003311: 
024066,003312:                                                                                                  #  DEBRIS:  LRS22.1X, A, L, Q, PUSHLIST
024067,003313: 
024068,003314: 32,2366                                           BANK     32                                    
024069,003315: 32,2000                                           SETLOC   LRS22                                 
024070,003316: 32,2000                                           BANK                                           
024071,003317: 32,2366                                           COUNT*   $$/LRS22                              
024072,003318: 
024073,003319: 32,2366           04645        LRS22.1            TC       MAKECADR                              
024074,003320: 32,2367           55737                           TS       LRS22.1X                              
024075,003321: 32,2370           05516                           TC       DOWNFLAG                              
024076,003322: 32,2371           00120                           ADRES    RNGSCFLG                              
024077,003323: 32,2372           00004                           INHINT                                         
024078,003324: 32,2373           34751                           CAF      BIT3                                  
024079,003325: 32,2374           00006                           EXTEND                                         #  GET RR RANGE SCALE
024080,003326: 32,2375           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
024081,003327: 32,2376           54001                           TS       L                                     
024082,003328: 32,2377           44751                           CS       RRRSBIT                               
024083,003329: 32,2400           70110                           MASK     RADMODES                              
024084,003330: 32,2401           60001                           AD       L                                     
024085,003331: 32,2402           54110                           TS       RADMODES                              
024086,003332: 32,2403           00003                           RELINT                                         
024087,003333: 32,2404           04616        READRDOT           TC       BANKCALL                              
024088,003334: 32,2405           53103                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
024089,003335: 32,2406           04616                           TC       BANKCALL                              
024090,003336: 32,2407           17714                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
024091,003337: 32,2410           12542                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
024092,003338: 
024093,003339: 32,2411           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
024094,003340: 32,2412           53106                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
024095,003341: 32,2413           52162                           DXCH     MPAC       +5                         #  TEMP BUFFER FOR DOWNLINK
024096,003342: 32,2414           53102                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
024097,003343: 32,2415           53747                           DXCH     RDOTMSAV                              
024098,003344: 32,2416           00006                           EXTEND                                         
024099,003345: 32,2417           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
024100,003346: 32,2420           52160                           DXCH     MPAC       +3                         #  TEMP BUFFER FOR DOWNLINK
024101,003347: 32,2421           30032                           CA       CDUX                                  
024102,003348: 32,2422           54156                           TS       MPAC       +2                         #  TEMP BUFFER FOR DOWNLINK
024103,003349: 32,2423           00006                           EXTEND                                         
024104,003350: 32,2424           30025                           DCA      TIME2                                 #  SAVE TIME
024105,003351: 32,2425           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
024106,003352: 32,2426           00006                           EXTEND                                         
024107,003353: 32,2427           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024108,003354: 32,2430           53110                           DXCH     TANG                                  

Page 570

024110,003356: 32,2431           00003                           RELINT                                         
024111,003357: 32,2432           04616                           TC       BANKCALL                              
024112,003358: 32,2433           53105                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
024113,003359: 32,2434           04616                           TC       BANKCALL                              
024114,003360: 32,2435           17714                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
024115,003361: 32,2436           02536                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
024116,003362: 32,2437           00004                           INHINT                                         #  COPY CYCLE FOR MARK DATA ON DOWNLINK
024117,003363: 32,2440           53334                           DXCH     DNRRANGE                              #  RANGE, RANGE RATE (RAW DATA)
024118,003364: 32,2441           53761                           DXCH     RANGRDOT                              
024119,003365: 32,2442           52162                           DXCH     MPAC       +5                         
024120,003366: 32,2443           53755                           DXCH     MKTIME                                #  MARK TIME
024121,003367: 32,2444           52160                           DXCH     MPAC       +3                         
024122,003368: 32,2445           53460                           DXCH     AIG                                   #  CDUY, CDUZ
024123,003369: 32,2446           00006                           EXTEND                                         
024124,003370: 32,2447           31110                           DCA      TANG                                  #  PRESERVE TANG
024125,003371: 32,2450           53753                           DXCH     TANGNB                                #  TRUNNION AND SHAFT ANGLES
024126,003372: 32,2451           30156                           CA       MPAC       +2                         
024127,003373: 32,2452           55461                           TS       AOG                                   #  CDUX
024128,003374: 32,2453           06037                           TC       INTPRET                               
024129,003375: 32,2454           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
024130,003376: 32,2455           03747                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
024131,003377: 32,2456           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
024132,003378: 32,2457           20217                                    14D                                   #  FT./SECOND PER BIT
024133,003379: 32,2460           24002                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
024134,003380: 32,2461           03751                           STORE    RDOTM                                 
024135,003381: 32,2462           47135                           SLOAD    RTB                                   
024136,003382: 32,2463           01110                                    TANG                                  #  GET TRUNION ANGLE
024137,003383: 32,2464           21576                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
024138,003384: 32,2465           03734                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
024139,003385: 32,2466           47135                           SLOAD    RTB                                   
024140,003386: 32,2467           01111                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
024141,003387: 32,2470           21576                                    CDULOGIC                              
024142,003388: 32,2471           17736                           STODL    RRSHAFT                               
024143,003389: 32,2472           01102                                    SAMPLSUM                              
024144,003390: 32,2473           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
024145,003391: 32,2474           24004                                    RANGCONV                              #  PER BIT, END WITH METERS, SCALED -29
024146,003392: 32,2475           37757                           STCALL   RM                                    
024147,003393: 32,2476           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
024148,003394: 32,2477           17741                           STODL    RRBORSIT                              #  AND SAVE
024149,003395: 32,2500           00025                                    20D                                   
024150,003396: 32,2501           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
024151,003397: 32,2502           51255                                    LPS20.1                               
024152,003398: 32,2503           77776                           EXIT                                           
024153,003399: 32,2504           31457                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
024154,003400: 32,2505           54766                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
024155,003401: 32,2506           31460                           CA       AMG                                   
024156,003402: 32,2507           54770                           TS       CDUSPOT    +2                         
024157,003403: 32,2510           31461                           CA       AOG                                   
024158,003404: 32,2511           54772                           TS       CDUSPOT    +4                         
024159,003405: 32,2512           06037                           TC       INTPRET                               

Page 571

024161,003407: 32,2513           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
024162,003408: 32,2514           01102                                    RRTARGET                              
024163,003409: 32,2515           47651                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
024164,003410: 32,2516           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
024165,003411: 32,2517           03741                                    RRBORSIT                              
024166,003412: 32,2520           65552                           SL1      ACOS                                  #  BETWEEN THEM
024167,003413: 32,2521           01046                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
024168,003414: 32,2522           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
024169,003415: 32,2523           24546                                    THREEDEG                              
024170,003416: 32,2524           64531                                    NORMEXIT                              #  YES - NORMAL EXIT
024171,003417: 
024172,003418: 32,2525           77776                           EXIT                                           #  ERROR EXIT 2
024173,003419: 32,2526           34752                           CAF      BIT2                                  #  SET ERROR CODE
024174,003420: 32,2527           54154                           TS       MPAC                                  
024175,003421: 32,2530           12534                           TCF      OUT22.1                               
024176,003422: 
024177,003423: 32,2531           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT - SET MPAC EQUAL ZERO
024178,003424: 32,2532           34755                           CAF      ZERO                                  
024179,003425: 32,2533           54154                           TS       MPAC                                  
024180,003426: 32,2534           31737        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
024181,003427: 32,2535           04640                           TC       BANKJUMP                              
024182,003428: 32,2536           30101        CHEXERR            CAE      FLAGWRD5                              
024183,003429: 32,2537           74742                           MASK     RNGSCBIT                              
024184,003430: 32,2540           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
024185,003431: 32,2541           12404                           TCF      READRDOT                              #  YES - TAKE ANOTHER READING
024186,003432: 
024187,003433: 32,2542           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
024188,003434: 32,2543           54154                           TS       MPAC                                  
024189,003435: 32,2544           02534                           TC       OUT22.1                               
024190,003436: 32,2545           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES, SCALED REVS, B0
024191,003437: 
024192,003438: 32,2547     1101               RRLOSVEC           EQUALS   RRTARGET                              
024193,003439: 

Page 572

024195,003441:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024196,003442:                                                                                                  #  MOD. NO.: 1           BY: P VOLANTE  SDC              DATE   4-11-67
024197,003443: 
024198,003444:                                                                                                  #  FUNCTIONAL DESCRIPTION-

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

024200,003446:                                                                                                  #        2)  CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024201,003447: 
024202,003448:                                                                                                  #  CALLING SEQUENCE-  BANKCALL FOR LRS22.2
024203,003449: 
024204,003450:                                                                                                  #  SUBROUTINES CALLED:  G+N, AUTO   SETMAXDB
024205,003451: 
024206,003452:                                                                                                  #  NORMAL EXIT-  RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024207,003453: 
024208,003454:                                                                                                  #  ERROR EXIT-  RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024209,003455: 
024210,003456:                                                                                                  #  ALARMS-  NONE                                                             IN THE AUTO MODE
024211,003457: 
024212,003458:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
024213,003459:                                                                                                  #        RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024214,003460:                                                                                                  #        RM - RR RANGE, METERS B-29, FROM LRS22.1
024215,003461:                                                                                                  #        BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024216,003462: 
024217,003463:                                                                                                  #  DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024218,003464: 
024219,003465: 24,2000                                           SETLOC   P20S                                  
024220,003466: 24,2000                                           BANK                                           
024221,003467: 24,3333           04645        LRS22.2            TC       MAKECADR                              
024222,003468: 24,3334           55737                           TS       LRS22.1X                              
024223,003469: 24,3335           06037                           TC       INTPRET                               
024224,003470:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF 
024225,003471: 24,3336           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
024226,003472: 24,3337           03745                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
024227,003473:                                                                                                  #  LOS VECTOR, A HALF UNIT VECTOR
024228,003474:                                                                                                  #  IN NAV BASE AXES)
024229,003475: 24,3340           50025                           DSU      BMN                                   
024230,003476: 24,3341           11355                                    30DEG                                 
024231,003477: 24,3342           51347                                    OKEXIT                                #  NORMAL EXIT - WITHIN 30 DEG.
024232,003478: 24,3343           77776                           EXIT                                           #  ERROR EXIT - NOT WITHIN 30 DEG.
024233,003479: 24,3344           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
024234,003480: 24,3345           54154                           TS       MPAC                                  
024235,003481: 24,3346           13352                           TCF      OUT22.2                               
024236,003482: 24,3347           77776        OKEXIT             EXIT                                           #  NORMAL EXIT - SET MPAC = ZERO
024237,003483: 

Page 573

024239,003485: 24,3350           34755                           CAF      ZERO                                  
024240,003486: 24,3351           54154                           TS       MPAC                                  
024241,003487: 24,3352           31737        OUT22.2            CAE      LRS22.1X                              
024242,003488: 24,3353           04640                           TC       BANKJUMP                              
024243,003489: 
024244,003490: 24,3354           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES, SCALED REVS, B0
024245,003491: 

Page 574

024247,003493:                                                                                                  #  PROGRAM NAME - LSR22.3                                DATE - 29 MAY 1967
024248,003494:                                                                                                  #  MOD. NO 3                                             LOG SECTION - P20-25
024249,003495:                                                                                                  #  MOD. BY - DANFORTH                                    ASSEMBLY LEMP20S REV 10
024250,003496: 
024251,003497:                                                                                                  #  FUNCTIONAL DESCRIPTION
024252,003498:                                                                                                  #        THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024253,003499:                                                                                                  #        RADAR.  (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES).  THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024254,003500:                                                                                                  #        WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024255,003501: 
024256,003502:                                                                                                  #  CALLING SEQUENCE
024257,003503:                                                                                                  #        THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY.  THE ROUTINE IS ENTERED FROM
024258,003504:                                                                                                  #        R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA.  IF THE
024259,003505:                                                                                                  #        COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED.  THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024260,003506:                                                                                                  #        THE DEVIATIONS.  IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024261,003507:                                                                                                  #        DEVIATIONS INTO THE STATE VECTOR.  IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024262,003508:                                                                                                  #        PROCESSED FOR THIS MARK, I.E.,  R22LEM GETS THE NEXT MARK.
024263,003509: 
024264,003510:                                                                                                  #  SUBROUTINES CALLED
024265,003511:                                                                                                  #        WLINIT          LGCUPDTE        INTEGRV         INCORP1         ARCTAN
024266,003512:                                                                                                  #        GETULC          RARARANG        INCORP2         NBSM            INTSTALL
024267,003513: 
024268,003514:                                                                                                  #  OUTPUT
024269,003515:                                                                                                  #        CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024270,003516:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR
024271,003517:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024272,003518:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024273,003519:                                                                                                  #        UPDATED W-MATRIX
024274,003520: 
024275,003521:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
024276,003522:                                                                                                  #        LM AND CSM STATE VECTORS
024277,003523:                                                                                                  #        W-MATRIX
024278,003524:                                                                                                  #        MARK TIME IN MKTIME
024279,003525:                                                                                                  #        RADAR RANGE IN RM METERS B-29
024280,003526:                                                                                                  #                RANGE RATE IN RDOTM METERS/CSES B-7
024281,003527:                                                                                                  #                SHAFT ANGLE IN RRSHAFT REVS. B0
024282,003528:                                                                                                  #                TRUNNION ANGLE IN RRTRUN REVS. B0
024283,003529:                                                                                                  #        GIMBAL ANGLES   INNER IN AIG
024284,003530:                                                                                                  #                        MIDDLE IN AMG
024285,003531:                                                                                                  #                        OUTER IN AOG
024286,003532:                                                                                                  #        REFSMMAT
024287,003533:                                                                                                  #        RENDWFLG
024288,003534:                                                                                                  #        NOANGFLG
024289,003535:                                                                                                  #        VEHUPFLG
024290,003536: 
024291,003537:                                                                                                  #  DEBRIS
024292,003538:                                                                                                  #        PUSHLIST -- ALL
024293,003539:                                                                                                  #        MX, MY, MZ (VECTORS)

Page 575

024295,003541:                                                                                                  #        ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024296,003542: 
024297,003543: 13,2207                                           BANK     13                                    
024298,003544: 26,2000                                           SETLOC   P20S3                                 
024299,003545: 26,2000                                           BANK                                           
024300,003546: 
024301,003547: 26,2412  E7,1456                                  EBANK=   LOSCOUNT                              
024302,003548: 26,2412                                           COUNT*   $$/LSR22                              
024303,003549: 26,2412           77624        LSR22.3            CALL                                           
024304,003550: 26,2413           11244                                    GRP2PC                                
024305,003551: 26,2414           43014                           BON      SET                                   
024306,003552: 26,2415           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
024307,003553: 26,2416           55200                                    LSR22.4                               #  YES
024308,003554: 26,2417           02466                                    DMENFLG                               
024309,003555: 26,2420           45014                           BOFF     CALL                                  
024310,003556: 26,2421           00747                                    VEHUPFLG                              
024311,003557: 26,2422           54454                                    DOLEM                                 
024312,003558: 26,2423           27414                                    INTSTALL                              
024313,003559: 26,2424           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
024314,003560: 26,2425           01674                                    VINTFLAG                              
024315,003561: 26,2426           26644                                    SETIFLGS                              
024316,003562: 26,2427           77624                           CALL                                           
024317,003563: 26,2430           55242                                    INTGRCAL                              
024318,003564: 26,2431           77624                           CALL                                           
024319,003565: 26,2432           11244                                    GRP2PC                                
024320,003566: 26,2433           77624                           CALL                                           
024321,003567: 26,2434           27414                                    INTSTALL                              
024322,003568: 26,2435           43014                           CLEAR    BOFF                                  
024323,003569: 26,2436           01676                                    DIM0FLAG                              
024324,003570: 26,2437           02756                                    RENDWFLG                              
024325,003571: 26,2440           54444                                    NOTWCSM                               
024326,003572: 26,2441           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
024327,003573: 26,2442           01476                                    DIM0FLAG                              
024328,003574: 26,2443           01475                                    D6OR9FLG                              
024329,003575: 26,2444           43014        NOTWCSM            SET      CLEAR                                 
024330,003576: 26,2445           01474                                    VINTFLAG                              
024331,003577: 26,2446           01673                                    INTYPFLG                              
024332,003578: 26,2447           45014                           SET      CALL                                  
024333,003579: 26,2450           01472                                    STATEFLG                              
024334,003580: 26,2451           55242                                    INTGRCAL                              
024335,003581: 26,2452           77650                           GOTO                                           
024336,003582: 26,2453           54504                                    MARKTEST                              
024337,003583: 26,2454           77624        DOLEM              CALL                                           
024338,003584: 26,2455           27414                                    INTSTALL                              
024339,003585: 26,2456           45014                           SET      CALL                                  
024340,003586: 26,2457           01474                                    VINTFLAG                              
024341,003587: 26,2460           26644                                    SETIFLGS                              
024342,003588: 26,2461           77624                           CALL                                           
024343,003589: 26,2462           55242                                    INTGRCAL                              

Page 576

024345,003591: 26,2463           77624                           CALL                                           
024346,003592: 26,2464           11244                                    GRP2PC                                
024347,003593: 26,2465           77624                           CALL                                           
024348,003594: 26,2466           27414                                    INTSTALL                              
024349,003595: 26,2467           43014                           CLEAR    BOFF                                  
024350,003596: 26,2470           01676                                    DIM0FLAG                              
024351,003597: 26,2471           02756                                    RENDWFLG                              
024352,003598: 26,2472           54476                                    NOTWLEM                               
024353,003599: 26,2473           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
024354,003600: 26,2474           01476                                    DIM0FLAG                              
024355,003601: 26,2475           01475                                    D6OR9FLG                              
024356,003602: 26,2476           43014        NOTWLEM            CLEAR    CLEAR                                 
024357,003603: 26,2477           01673                                    INTYPFLG                              
024358,003604: 26,2500           01674                                    VINTFLAG                              
024359,003605: 26,2501           45014                           SET      CALL                                  
024360,003606: 26,2502           01472                                    STATEFLG                              
024361,003607: 26,2503           55242                                    INTGRCAL                              
024362,003608: 26,2504           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
024363,003609: 26,2505           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
024364,003610: 26,2506           54510                                    RANGEBQ                               
024365,003611: 26,2507           55251                                    WLINIT                                #  YES - REINITIALIZE
024366,003612: 26,2510           77414        RANGEBQ            BON      EXIT                                  #  DON'T CALL R65 IF ON SURFACE
024367,003613: 26,2511           04307                                    SURFFLAG                              
024368,003614: 26,2512           54520                                    RANGEBQ1                              
024369,003615: 26,2513           34755                           CA       ZERO                                  
024370,003616: 26,2514           55745                           TS       R65CNTR                               
024371,003617: 26,2515           04616                           TC       BANKCALL                              
024372,003618: 26,2516           46123                           CADR     R65LEM                                
024373,003619: 26,2517           06037                           TC       INTPRET                               
024374,003620: 26,2520           43174        RANGEBQ1           AXT,2    BON                                   #  CLEAR X2
024375,003621: 26,2521           00000                                    0                                     
024376,003622: 26,2522           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
024377,003623: 26,2523           54526                                    SETX2                                 #  YES.  STORE ZERO IN SCALSHFT REGISTER
024378,003624: 26,2524           77714                           INCR,2                                         
024379,003625: 26,2525           00002                                    2                                     
024380,003626: 26,2526           45134        SETX2              SXA,2    CALL                                  
024381,003627: 26,2527           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
024382,003628: 26,2530           11244                                    GRP2PC                                
024383,003629: 26,2531           66170                           AXT,1    SXA,1                                 #  STORE RANGE CODE (1) FOR R3 IN NOUN 49
024384,003630: 26,2532           00001                                    1                                     
024385,003631: 26,2533           03745                                    WHCHREAD                              
024386,003632: 26,2534           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
024387,003633: 26,2535           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION (B-40)
024388,003634: 26,2536           20635                                    28D                                   
024389,003635: 26,2537           77634                           RTB                                            
024390,003636: 26,2540           21633                                    TPMODE                                #  AND SAVE IN 20D
024391,003637: 26,2541           00025                           STORE    20D                                   
024392,003638: 26,2542           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS, DELTAQ
024393,003639: 26,2543           55333                                    GETULC                                #  B-VECTORS FOR RANGE
024394,003640: 26,2544           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED

Page 577

024396,003642: 26,2545           00707                                    VEHUPFLG                              
024397,003643: 26,2546           54547                                    +1                                    
024398,003644: 26,2547           27525                           STOVL    BVECTOR                               
024399,003645: 26,2550           06522                                    ZEROVECS                              
024400,003646: 26,2551           03533                           STORE    BVECTOR    +6                         #  B1
024401,003647: 26,2552           17541                           STODL    BVECTOR    +12D                       #  B2
024402,003648: 26,2553           00045                                    36D                                   
024403,003649: 26,2554           44257                           SRR*     BDSU                                  
024404,003650: 26,2555           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
024405,003651: 26,2556           03757                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
024406,003652: 26,2557           77657                           SLR*                                           
024407,003653: 26,2560           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
024408,003654: 26,2561           17547                           STODL    DELTAQ                                #  EARTH B-29.  MOON B-27
024409,003655: 26,2562           00045                                    36D                                   #  RLC B-29/B-27
024410,003656: 26,2563           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
024411,003657: 26,2564           00047                                    X1                                    
024412,003658: 26,2565           53605                           DMP      SR*                                   
024413,003659: 26,2566           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR (B12) THEN
024414,003660: 26,2567           20577                                    0          -2,1                       #  UNNORMALIZE
024415,003661: 26,2570           53657                           SR*      SR*                                   
024416,003662: 26,2571           20601                                    0,1                                   
024417,003663: 26,2572           57176                                    0,2                                   
024418,003664: 26,2573           47057                           SR*      RTB                                   
024419,003665: 26,2574           57176                                    0,2                                   
024420,003666: 26,2575           21633                                    TPMODE                                
024421,003667: 26,2576           02707                           STORE    VARIANCE                              #  B-40
024422,003668: 26,2577           76276                           DCOMP    TAD                                   
024423,003669: 26,2600           00025                                    20D                                   #  B-40
024424,003670: 26,2601           72240                           BMN      TLOAD                                 
024425,003671: 26,2602           54605                                    QOK                                   
024426,003672: 26,2603           00025                                    20D                                   #  B-40
024427,003673: 26,2604           02707                           STORE    VARIANCE                              
024428,003674: 26,2605           77624        QOK                CALL                                           
024429,003675: 26,2606           55401                                    LGCUPDTE                              
024430,003676: 
024431,003677: 26,2607           45131                           SSP      CALL                                  
024432,003678: 26,2610           03746                                    WHCHREAD                              
024433,003679: 26,2611           00002                           DEC      2          B-14                       #  STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024434,003680: 26,2612           11244                                    GRP2PC                                
024435,003681: 26,2613           77624                           CALL                                           #  B-VECTOR, DELTAQ FOR RANGE RATE
024436,003682: 26,2614           55333                                    GETULC                                
024437,003683: 26,2615           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
024438,003684: 26,2616           00045                                    36D                                   #  AND SHIFT TO B-23
024439,003685: 26,2617           57202                                    0          -4,2                       
024440,003686: 26,2620           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
024441,003687: 26,2621           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
024442,003688: 26,2622           00707                                    VEHUPFLG                              
024443,003689: 26,2623           54624                                    +1                                    
024444,003690: 26,2624           77761                           VXSC                                           
024445,003691: 26,2625           00045                                    36D                                   #  B1 = RLC (B-24/B-22)

Page 578

024447,003693: 26,2626           27533                           STOVL    BVECTOR    +6                         
024448,003694: 26,2627           01653                                    NUVLEM                                
024449,003695: 26,2630           53257                           VSR*     VAD                                   
024450,003696: 26,2631           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024451,003697: 26,2632           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
024452,003698: 26,2633           53715                           PDVL     VSR*                                  #  VL TO PD6
024453,003699: 26,2634           01601                                    NUVCSM                                
024454,003700: 26,2635           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
024455,003701: 26,2636           52255                           VAD      VSU                                   
024456,003702: 26,2637           01615                                    VCVCSM                                
024457,003703: 26,2640           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
024458,003704: 26,2641           00001                                    0                                     
024459,003705: 26,2642           00007                                    6                                     
024460,003706: 26,2643           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
024461,003707: 26,2644           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
024462,003708: 26,2645           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
024463,003709: 26,2646           01773                                    RATEVAR                               
024464,003710: 26,2647           02707                           STORE    VARIANCE                              
024465,003711: 26,2650           54335                           SLOAD    SR                                    
024466,003712: 26,2651           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
024467,003713: 26,2652           20621                                    16D                                   #  SHIFT TO DP (B-4)
024468,003714: 26,2653           00031                           STORE    24D                                   #  AND SAVE IN 24D
024469,003715: 26,2654           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
024470,003716: 26,2655           02707                                    VARIANCE                              
024471,003717: 26,2656           54662                                    VOK                                   #  BRANCH - NO
024472,003718: 26,2657           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
024473,003719: 26,2660           00031                                    24D                                   
024474,003720: 26,2661           02707                           STORE    VARIANCE                              
024475,003721: 26,2662           60545        VOK                DLOAD    SR2                                   #  RDOT (PD12) FROM B-8/B-6
024476,003722: 26,2663           53725                           PDDL     SLR*                                  #  TO B-10/B-8
024477,003723: 26,2664           03751                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
024478,003724: 26,2665           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
024479,003725: 26,2666           77625                           DSU                                            
024480,003726: 26,2667           77675                           DMPR                                           
024481,003727: 26,2670           00045                                    36D                                   
024482,003728: 26,2671           27547                           STOVL    DELTAQ                                #  B-33
024483,003729: 26,2672           00001                                    0                                     #  NOW GET B0
024484,003730: 26,2673           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
024485,003731: 26,2674           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
024486,003732: 26,2675           00707                                    VEHUPFLG                              
024487,003733: 26,2676           54677                                    +1                                    
024488,003734: 26,2677           77657                           VSR*                                           
024489,003735: 26,2700           57200                                    0          -2,2                       #  SCALED B-5
024490,003736: 26,2701           27525                           STOVL    BVECTOR                               
024491,003737: 26,2702           06522                                    ZEROVECS                              
024492,003738: 26,2703           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
024493,003739: 26,2704           27541                           STOVL    BVECTOR    +12D                       
024494,003740: 26,2705           03525                                    BVECTOR                               
024495,003741: 26,2706           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
024496,003742: 26,2707           00025                                    20D                                   #  SHIFT COUNT IN 20D

Page 579

024498,003744: 26,2710           51575                           VLOAD    ABVAL                                 
024499,003745: 26,2711           03533                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
024500,003746: 26,2712           71301                           NORM     DLOAD                                 
024501,003747: 26,2713           00027                                    22D                                   #  SHIFT COUNT IN 22D
024502,003748: 26,2714           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
024503,003749: 26,2715           50025                           DSU      BMN                                   #  BRANCH - B0 HAS SMALLER SHIFT COUNT
024504,003750: 26,2716           00025                                    20D                                   
024505,003751: 26,2717           54723                                    VOK1                                  
024506,003752: 26,2720           52150                           LXA,1    GOTO                                  
024507,003753: 26,2721           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
024508,003754: 26,2722           54725                                    VOK2                                  
024509,003755: 26,2723           77750        VOK1               LXA,1                                          
024510,003756: 26,2724           00024                                    20D                                   
024511,003757: 26,2725           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024512,003758: 26,2726           03525                                    BVECTOR                               #  WITH THI SSHIFT COUNT
024513,003759: 26,2727           20201                                    0,1                                   
024514,003760: 26,2730           27525                           STOVL    BVECTOR                               
024515,003761: 26,2731           03533                                    BVECTOR    +6                         
024516,003762: 26,2732           77657                           VSL*                                           
024517,003763: 26,2733           20201                                    0,1                                   
024518,003764: 26,2734           17533                           STODL    BVECTOR    +6                         
024519,003765: 26,2735           03547                                    DELTAQ                                
024520,003766: 26,2736           77657                           SL*                                            
024521,003767: 26,2737           20201                                    0,1                                   
024522,003768: 26,2740           03547                           STORE    DELTAQ                                
024523,003769: 26,2741           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
024524,003770: 26,2742           00045                                    36D                                   
024525,003771: 26,2743           20200                                    0          -1,1                       
024526,003772: 26,2744           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
024527,003773: 26,2745           02707                                    VARIANCE                              
024528,003774: 26,2746           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024529,003775: 26,2747           21633                                    TPMODE                                
024530,003776: 26,2750           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
024531,003777: 26,2751           55401                                    LGCUPDTE                              
024532,003778: 
024533,003779: 26,2752           77624                           CALL                                           
024534,003780: 26,2753           11244                                    GRP2PC                                
024535,003781: 26,2754           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
024536,003782: 26,2755           04307                                    SURFFLAG                              
024537,003783: 26,2756           55176                                    RENDEND                               #  NO
024538,003784: 26,2757  E7,1457                                  EBANK=   AIG                                   
024539,003785: 26,2757           33332        MXMYMZ             CAF      AIGBANK                               
024540,003786: 26,2760           54006                           TS       BBANK                                 
024541,003787: 26,2761           31457                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
024542,003788: 26,2762           54766                           TS       CDUSPOT                               
024543,003789: 26,2763           31460                           CA       AMG                                   
024544,003790: 26,2764           54770                           TS       CDUSPOT    +2                         
024545,003791: 26,2765           31461                           CA       AOG                                   
024546,003792: 26,2766           54772                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024547,003793: 26,2767           06037                           TC       INTPRET                               

Page 580

024549,003795: 26,2770           45175                           VLOAD    CALL                                  
024550,003796: 26,2771           06520                                    UNITX                                 
024551,003797: 26,2772           47664                                    TRG*NBSM                              
024552,003798: 26,2773           76505                           VXM      VSL1                                  
024553,003799: 26,2774           01734                                    REFSMMAT                              
024554,003800: 26,2775           27677                           STOVL    MX                                    
024555,003801: 26,2776           06516                                    UNITY                                 
024556,003802: 26,2777           77624                           CALL                                           
024557,003803: 26,3000           47673                                    *NBSM*                                
024558,003804: 26,3001           76505                           VXM      VSL1                                  
024559,003805: 26,3002           01734                                    REFSMMAT                              
024560,003806: 26,3003           27705                           STOVL    MY                                    
024561,003807: 26,3004           06514                                    UNITZ                                 
024562,003808: 26,3005           77624                           CALL                                           
024563,003809: 26,3006           47673                                    *NBSM*                                
024564,003810: 26,3007           76505                           VXM      VSL1                                  
024565,003811: 26,3010           01734                                    REFSMMAT                              
024566,003812: 26,3011           37713        SHAFTBQ            STCALL   MZ                                    
024567,003813: 26,3012           55361                                    RADARANG                              
024568,003814: 26,3013           45131                           SSP      CALL                                  #  STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024569,003815: 26,3014           03746                                    WHCHREAD                              
024570,003816: 26,3015           00003                           DEC      3          B-14                       
024571,003817: 26,3016           11244                                    GRP2PC                                
024572,003818: 26,3017           50375                           VLOAD    DOT                                   #  COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
024573,003819: 26,3020           03724                                    ULC                                   
024574,003820: 26,3021           03677                                    MX                                    
024575,003821: 26,3022           77752                           SL1                                            
024576,003822: 26,3023           24023                           STOVL    SINTH                                 #  18D
024577,003823: 26,3024           03724                                    ULC                                   
024578,003824: 26,3025           72441                           DOT      SL1                                   
024579,003825: 26,3026           03713                                    MZ                                    
024580,003826: 26,3027           34021                           STCALL   COSTH                                 #  16D
024581,003827: 26,3030           26510                                    ARCTAN                                
024582,003828: 26,3031           41221                           BDSU     DMP                                   
024583,003829: 26,3032           03736                                    RRSHAFT                               
024584,003830: 26,3033           15441                                    2PI/8                                 
024585,003831: 26,3034           41472                           SL3R     PUSH                                  
024586,003832: 26,3035           52545                           DLOAD    SL3                                   
024587,003833: 26,3036           01701                                    X789                                  
024588,003834: 26,3037           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
024589,003835: 26,3040           56176                                    0,2                                   
024590,003836: 26,3041           53605                           DMP      SRR*                                  
024591,003837: 26,3042           03722                                    RXZ                                   
024592,003838: 26,3043           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
024593,003839: 26,3044           27547                           STOVL    DELTAQ                                #  EARTH B-29.  MOON B-27
024594,003840: 26,3045           03724                                    ULC                                   
024595,003841: 26,3046           76435                           VXV      VSL1                                  
024596,003842: 26,3047           03705                                    MY                                    
024597,003843: 26,3050           77656                           UNIT                                           
024598,003844: 26,3051           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED

Page 581

024600,003846: 26,3052           00747                                    VEHUPFLG                              
024601,003847: 26,3053           55054                                    +1                                    
024602,003848: 26,3054           27525                           STOVL    BVECTOR                               
024603,003849: 26,3055           06522                                    ZEROVECS                              
024604,003850: 26,3056           03533                           STORE    BVECTOR    +6                         
024605,003851: 26,3057           17541                           STODL    BVECTOR    +12D                       
024606,003852: 26,3060           03722                                    RXZ                                   
024607,003853: 26,3061           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
024608,003854: 26,3062           20577                                    0          -2,1                       
024609,003855: 26,3063           56176                                    0,2                                   
024610,003856: 26,3064           03541                           STORE    BVECTOR    +12D                       
024611,003857: 26,3065           77735                           SLOAD                                          
024612,003858: 26,3066           02011                                    SHAFTVAR                              
024613,003859: 26,3067           41215                           DAD      DMP                                   
024614,003860: 26,3070           15436                                    IMUVAR                                #  RAD**2 B12
024615,003861: 26,3071           03722                                    RXZ                                   
024616,003862: 26,3072           41257                           SRR*     DMP                                   
024617,003863: 26,3073           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
024618,003864: 26,3074           03722                                    RXZ                                   
024619,003865: 26,3075           53657                           SR*      SR*                                   
024620,003866: 26,3076           20577                                    0          -2,1                       
024621,003867: 26,3077           57176                                    0,2                                   
024622,003868: 26,3100           47057                           SR*      RTB                                   
024623,003869: 26,3101           57176                                    0,2                                   
024624,003870: 26,3102           21633                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
024625,003871: 26,3103           36707                           STCALL   VARIANCE                              #  B-40
024626,003872: 26,3104           55401                                    LGCUPDTE                              
024627,003873: 
024628,003874: 26,3105           77624                           CALL                                           
024629,003875: 26,3106           11244                                    GRP2PC                                
024630,003876: 26,3107           77624        TRUNBQ             CALL                                           
024631,003877: 26,3110           55361                                    RADARANG                              
024632,003878: 26,3111           45131                           SSP      CALL                                  #  STORE TRUNNION CODE (4) FOR R3 IN N49
024633,003879: 26,3112           03746                                    WHCHREAD                              
024634,003880: 26,3113           00004                           DEC      4          B-14                       
024635,003881: 26,3114           11244                                    GRP2PC                                
024636,003882: 26,3115           47375                           VLOAD    VXV                                   
024637,003883: 26,3116           03724                                    ULC                                   
024638,003884: 26,3117           03705                                    MY                                    
024639,003885: 26,3120           47372                           VSL1     VXV                                   
024640,003886: 26,3121           03724                                    ULC                                   
024641,003887: 26,3122           77772                           VSL1                                           #  (ULC X MY) X ULC
024642,003888: 26,3123           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
024643,003889: 26,3124           00747                                    VEHUPFLG                              
024644,003890: 26,3125           55126                                    +1                                    
024645,003891: 26,3126           27525                           STOVL    BVECTOR                               
024646,003892: 26,3127           06522                                    ZEROVECS                              
024647,003893: 26,3130           03533                           STORE    BVECTOR    +6                         
024648,003894: 26,3131           17541                           STODL    BVECTOR    +12D                       
024649,003895: 26,3132           03722                                    RXZ                                   

Page 582

024651,003897: 26,3133           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
024652,003898: 26,3134           20577                                    0          -2,1                       
024653,003899: 26,3135           56176                                    0,2                                   
024654,003900: 26,3136           03543                           STORE    BVECTOR    +14D                       
024655,003901: 26,3137           77735                           SLOAD                                          
024656,003902: 26,3140           02012                                    TRUNVAR                               
024657,003903: 26,3141           41215                           DAD      DMP                                   
024658,003904: 26,3142           15436                                    IMUVAR                                
024659,003905: 26,3143           03722                                    RXZ                                   
024660,003906: 26,3144           41257                           SRR*     DMP                                   
024661,003907: 26,3145           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
024662,003908: 26,3146           03722                                    RXZ                                   
024663,003909: 26,3147           53657                           SR*      SR*                                   
024664,003910: 26,3150           20577                                    0          -2,1                       
024665,003911: 26,3151           57176                                    0,2                                   
024666,003912: 26,3152           47057                           SR*      RTB                                   
024667,003913: 26,3153           57176                                    0,2                                   
024668,003914: 26,3154           21633                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
024669,003915: 26,3155           16707                           STODL    VARIANCE                              
024670,003916: 26,3156           03732                                    SINTHETA                              
024671,003917: 26,3157           44336                           ASIN     BDSU                                  #  SIN THETA IN PD6
024672,003918: 26,3160           03734                                    RRTRUN                                
024673,003919: 26,3161           56405                           DMP      SL3R                                  
024674,003920: 26,3162           15441                                    2PI/8                                 
024675,003921: 26,3163           52525                           PDDL     SL3                                   
024676,003922: 26,3164           01703                                    X789       +2                         
024677,003923: 26,3165           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
024678,003924: 26,3166           56176                                    0,2                                   
024679,003925: 26,3167           53605                           DMP      SRR*                                  
024680,003926: 26,3170           03722                                    RXZ                                   
024681,003927: 26,3171           21601                                    0,1                                   
024682,003928: 26,3172           37547                           STCALL   DELTAQ                                #  EARTH B-29.  MOON B-27
024683,003929: 26,3173           55401                                    LGCUPDTE                              
024684,003930: 26,3174           77624                           CALL                                           
024685,003931: 26,3175           11244                                    GRP2PC                                
024686,003932: 26,3176           77650        RENDEND            GOTO                                           
024687,003933: 26,3177           50566                                    R22LEM93                              
024688,003934: 
024689,003935:                                                                                                  #  FUNCTIONAL DESCRIPTION
024690,003936:                                                                                                  #        LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
024691,003937:                                                                                                  #        COMPUTER ONLY.  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
024692,003938:                                                                                                  #        AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
024693,003939: 
024694,003940:                                                                                                  #  SUBROUTINES CALLED
024695,003941:                                                                                                  #        INSTALL         LGCUPDTE        INCORP1         RP-TO-R
024696,003942:                                                                                                  #        INTEGRV         GETULC          INCORP2
024697,003943: 
024698,003944:                                                                                                  #  OUTPUT
024699,003945:                                                                                                  #        CORRECTED CSM STATE VECTOR (PERMANENT)
024700,003946:                                                                                                  #        NUMBER OF MARKS INCORPORATED IN MARKCTR

Page 583

024702,003948:                                                                                                  #        MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
024703,003949:                                                                                                  #        MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024704,003950:                                                                                                  #        UPDATED W-MATRIX
024705,003951: 
024706,003952:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
024707,003953:                                                                                                  #        LM AND CSM STATE VECTORS
024708,003954:                                                                                                  #        W-MATRIX
024709,003955:                                                                                                  #        MARK TIME IN MKTIME
024710,003956:                                                                                                  #        RADAR RANGE IN RM METERS B-29
024711,003957:                                                                                                  #        RANGE RATE IN RDOTM METERS/CSEC B-7
024712,003958:                                                                                                  #        VEHUPFLG
024713,003959: 
024714,003960: 26,3200           77624        LSR22.4            CALL                                           
024715,003961: 26,3201           27414                                    INTSTALL                              
024716,003962: 26,3202           43014                           SET      CLEAR                                 
024717,003963: 26,3203           01472                                    STATEFLG                              
024718,003964: 26,3204           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
024719,003965: 26,3205           77624                           CALL                                           
024720,003966: 26,3206           55242                                    INTGRCAL                              
024721,003967: 26,3207           77624                           CALL                                           
024722,003968: 26,3210           11244                                    GRP2PC                                
024723,003969: 26,3211           45014                           CLEAR    CALL                                  
024724,003970: 26,3212           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
024725,003971: 26,3213           27414                                    INTSTALL                              
024726,003972: 26,3214           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
024727,003973: 26,3215           03463                                    MARKCTR                               
024728,003974: 26,3216           55231                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
024729,003975: 26,3217           43014                           CLEAR    SET                                   
024730,003976: 26,3220           01675                                    D6OR9FLG                              
024731,003977: 26,3221           01476                                    DIM0FLAG                              
024732,003978: 26,3222           43014                           SET      CLEAR                                 
024733,003979: 26,3223           01474                                    VINTFLAG                              
024734,003980: 26,3224           01673                                    INTYPFLG                              
024735,003981: 26,3225           77624                           CALL                                           
024736,003982: 26,3226           55242                                    INTGRCAL                              
024737,003983: 26,3227           77650                           GOTO                                           
024738,003984: 26,3230           54510                                    RANGEBQ                               
024739,003985: 
024740,003986: 26,3231           77624        INITWMX6           CALL                                           
024741,003987: 26,3232           55251                                    WLINIT                                #  INITIALIZE W-MATRIX
024742,003988: 26,3233           45014                           SET      CALL                                  
024743,003989: 26,3234           01474                                    VINTFLAG                              
024744,003990: 26,3235           26644                                    SETIFLGS                              
024745,003991: 26,3236           77624                           CALL                                           
024746,003992: 26,3237           55242                                    INTGRCAL                              
024747,003993: 26,3240           77650                           GOTO                                           
024748,003994: 26,3241           54510                                    RANGEBQ                               
024749,003995: 
024750,003996:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV

Page 584

024752,003998: 26,3242           71220        INTGRCAL           STQ      DLOAD                                 
024753,003999: 26,3243           03675                                    IGRET                                 
024754,004000: 26,3244           03755                                    MKTIME                                
024755,004001: 26,3245           34041                           STCALL   TDEC1                                 
024756,004002: 26,3246           27134                                    INTEGRV                               
024757,004003: 26,3247           77650                           GOTO                                           
024758,004004: 26,3250           03675                                    IGRET                                 
024759,004005: 
024760,004006:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
024761,004007:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
024762,004008: 
024763,004009: 26,3251  E5,1400                                  EBANK=   W                                     
024764,004010: 26,3251           77776        WLINIT             EXIT                                           
024765,004011: 26,3252           33331                           CAF      WBANK                                 
024766,004012: 26,3253           54006                           TS       BBANK                                 
024767,004013: 26,3254           33437                           CAF      WSIZE                                 
024768,004014: 26,3255           55257                           TS       W.IND                                 
024769,004015: 26,3256           34755                           CAF      ZERO                                  
024770,004016: 26,3257           51257                           INDEX    W.IND                                 
024771,004017: 26,3260           55400                           TS       W                                     
024772,004018: 26,3261           11257                           CCS      W.IND                                 
024773,004019: 26,3262           03255                           TC       -5                                    
024774,004020: 26,3263           33332                           CAF      AIGBANK                               #  RESTORE EBANK 7
024775,004021: 26,3264           54006                           TS       BBANK                                 
024776,004022: 26,3265           06037                           TC       INTPRET                               
024777,004023: 26,3266           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE, INITIALIZE WITH 
024778,004024: 26,3267           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
024779,004025: 26,3270           55274                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
024780,004026: 26,3271           02001                                    WRENDPOS                              
024781,004027: 26,3272           77650                           GOTO                                           
024782,004028: 26,3273           55276                                    WPOSTORE                              
024783,004029: 26,3274           77735        WLSRFPOS           SLOAD                                          
024784,004030: 26,3275           02007                                    WSURFPOS                              
024785,004031: 26,3276           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
024786,004032: 26,3277           20606                                    5                                     
024787,004033: 26,3300           02401                           STORE    W                                     
024788,004034: 26,3301           02411                           STORE    W          +8D                        
024789,004035: 26,3302           02421                           STORE    W          +16D                       
024790,004036: 26,3303           67214                           BON      SLOAD                                 
024791,004037: 26,3304           04307                                    SURFFLAG                              
024792,004038: 26,3305           55311                                    WLSRFVEL                              
024793,004039: 26,3306           02002                                    WRENDVEL                              
024794,004040: 26,3307           77650                           GOTO                                           
024795,004041: 26,3310           55313                                    WVELSTOR                              
024796,004042: 26,3311           77735        WLSRFVEL           SLOAD                                          
024797,004043: 26,3312           02010                                    WSURFVEL                              
024798,004044: 26,3313           02511        WVELSTOR           STORE    W          +72D                       
024799,004045: 26,3314           02521                           STORE    W          +80D                       
024800,004046: 26,3315           02531                           STORE    W          +88D                       
024801,004047: 26,3316           77735                           SLOAD                                          

Page 585

024803,004049: 26,3317           02003                                    WSHAFT                                
024804,004050: 26,3320           02621                           STORE    W          +144D                      
024805,004051: 26,3321           77735                           SLOAD                                          
024806,004052: 26,3322           02004                                    WTRUN                                 
024807,004053: 26,3323           02631                           STORE    W          +152D                      
024808,004054: 26,3324           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
024809,004055: 26,3325           02476                                    RENDWFLG                              
024810,004056: 26,3326           03463                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
024811,004057: 26,3327           00000                                    0                                     
024812,004058: 26,3330           77616                           RVQ                                            
024813,004059: 
024814,004060: 26,3331  E5,1400                                  EBANK=   W                                     
024815,004061: 26,3331           54065        WBANK              BBCON    WLINIT                                
024816,004062: 26,3332  E7,1457                                  EBANK=   AIG                                   
024817,004063: 26,3332           54067        AIGBANK            BBCON    LSR22.3                               
024818,004064: 
024819,004065:                                                                                                  #  GETULC
024820,004066: 
024821,004067:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
024822,004068:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
024823,004069:                                                                                                  #  MAGNITUDE IN 36D.
024824,004070: 
024825,004071: 26,3333           77201        GETULC             SETPD    VLOAD                                 
024826,004072: 26,3334           00001                                    0                                     
024827,004073: 26,3335           01645                                    DELTALEM                              
024828,004074: 26,3336           77754                           LXA,2                                          
024829,004075: 26,3337           03720                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
024830,004076: 26,3340           53257                           VSR*     VAD                                   
024831,004077: 26,3341           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
024832,004078: 26,3342           01661                                    RCVLEM                                
024833,004079: 26,3343           53715                           PDVL     VSR*                                  
024834,004080: 26,3344           01573                                    DELTACSM                              
024835,004081: 26,3345           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
024836,004082: 26,3346           52255                           VAD      VSU                                   
024837,004083: 26,3347           01607                                    RCVCSM                                
024838,004084: 26,3350           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
024839,004085: 26,3351           21724                                    NORMUNX1                              
024840,004086: 26,3352           17724                           STODL    ULC                                   
024841,004087: 26,3353           00045                                    36D                                   
024842,004088: 26,3354           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
024843,004089: 26,3355           20201                                    0,1                                   
024844,004090: 26,3356           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
024845,004091: 26,3357           03724                                    ULC                                   
024846,004092: 26,3360           77616                           RVQ                                            
024847,004093: 
024848,004094:                                                                                                  #  RADARANG
024849,004095: 
024850,004096:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
024851,004097:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
024852,004098:                                                                                                  #  OUTPUT
024853,004099:                                                                                                  #        ULC IN ULC, PD0

Page 586

024855,004101:                                                                                                  #        RLC IN PD36D
024856,004102:                                                                                                  #        SIN THETA IN SINTHETA AND PD6
024857,004103:                                                                                                  #        RXZ NORM IN RXZ (N IN X1)
024858,004104: 
024859,004105: 26,3361           45020        RADARANG           STQ      CALL                                  
024860,004106: 26,3362           03675                                    RDRET                                 
024861,004107: 26,3363           55333                                    GETULC                                
024862,004108: 26,3364           50276                           VCOMP    DOT                                   
024863,004109: 26,3365           03705                                    MY                                    
024864,004110: 26,3366           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
024865,004111: 26,3367           03732                           STORE    SINTHETA                              
024866,004112: 26,3370           44316                           DSQ      BDSU                                  
024867,004113: 26,3371           06512                                    DP1/4TH                               #  1-(SIN THETA)**2
024868,004114: 26,3372           41366                           SQRT     DMP                                   
024869,004115: 26,3373           00045                                    36D                                   
024870,004116: 26,3374           60352                           SL1      NORM                                  
024871,004117: 26,3375           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
024872,004118: 26,3376           03722                           STORE    RXZ                                   
024873,004119: 26,3377           77650                           GOTO                                           #  EXIT
024874,004120: 26,3400           03675                                    RDRET                                 
024875,004121: 26,3401           45020        LGCUPDTE           STQ      CALL                                  
024876,004122: 26,3402           03675                                    LGRET                                 
024877,004123: 26,3403           46531                                    INCORP1                               
024878,004124: 26,3404           51575                           VLOAD    ABVAL                                 
024879,004125: 26,3405           02673                                    DELTAX     +6                         
024880,004126: 26,3406           53754                           LXA,2    SRR*                                  
024881,004127: 26,3407           03720                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
024882,004128: 26,3410           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
024883,004129: 26,3411           24317                           STOVL    R22DISP    +2                         
024884,004130: 26,3412           02665                                    DELTAX                                
024885,004131: 26,3413           53646                           ABVAL    SRR*                                  
024886,004132: 26,3414           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
024887,004133: 26,3415           00315                           STORE    R22DISP                               
024888,004134: 26,3416           54335                           SLOAD    SR                                    
024889,004135: 26,3417           02005                                    RMAX                                  
024890,004136: 26,3420           20613                                    10D                                   
024891,004137: 26,3421           50025                           DSU      BMN                                   
024892,004138: 26,3422           00315                                    R22DISP                               
024893,004139: 26,3423           50572                                    R22LEM96                              #  GO DISPLAY
024894,004140: 26,3424           45335                           SLOAD    DSU                                   
024895,004141: 26,3425           02006                                    VMAX                                  
024896,004142: 26,3426           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
024897,004143: 26,3427           77640                           BMN                                            
024898,004144: 26,3430           50572                                    R22LEM96                              #  GO DISPLAY
024899,004145: 26,3431           77624        ASTOK              CALL                                           
024900,004146: 26,3432           46743                                    INCORP2                               
024901,004147: 26,3433           77650                           GOTO                                           
024902,004148: 26,3434           03675                                    LGRET                                 
024903,004149: 26,3435           00103 03370  IMUVAR             2DEC     E-6        B12                        #  RAD**2
024904,004150: 
024905,004151: 26,3437           00241        WSIZE              DEC      161        B-14                       

Page 587

024907,004153: 26,3440           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
024908,004154: 
024909,004155: 26,3442  E7,1456                                  EBANK=   LOSCOUNT                              

Page 588

024911,004157: 
024912,004158:                                                                                                  #  PROGRAM NAME LRS24.1          RR SEARCH ROUTINE
024913,004159:                                                                                                  #  MOD NO 0                      BY P VOLANTE   SDC              DATE 1-15-67
024914,004160: 
024915,004161:                                                                                                  #  FUNCTIONAL DESCRIPTION
024916,004162: 
024917,004163:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
024918,004164:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
024919,004165:                                                                                                  #  LM +Z AXIS.  IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
024920,004166:                                                                                                  #  ATTITUDE MANEUVER.
024921,004167: 
024922,004168:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
024923,004169: 
024924,004170:                                                                                                  #  SUBROUTINES CALLED
024925,004171: 
024926,004172:                                                                                                  #        LEMCONIC        R61LEM
024927,004173:                                                                                                  #        CSMCONIC        RRDESSM
024928,004174:                                                                                                  #        JOBDELAY        FLAGDOWN
024929,004175:                                                                                                  #        WAITLIST        FLAGUP
024930,004176:                                                                                                  #        RRNB            BANKCALL
024931,004177: 
024932,004178:                                                                                                  #  EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
024933,004179: 
024934,004180:                                                                                                  #  OUTPUT
024935,004181: 
024936,004182:                                                                                                  #        DATAGOOD (SP) - FOR DISPLAY IN R1 -     00000 INDICATES NO LOCKON
024937,004183:                                                                                                  #                                                11111 INDICATES LOCKON ACHIEVED
024938,004184:                                                                                                  #        OMEGAD (SP)   - FOR DISPLAY IN R2 -     ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
024939,004185: 
024940,004186:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
024941,004187: 
024942,004188:                                                                                                  #        SEARCH FLAG MUST BE SET
024943,004189:                                                                                                  #        LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
024944,004190: 
024945,004191:                                                                                                  #  DEBRIS
024946,004192: 
024947,004193:                                                                                                  #        RLMSRCH         UXVECT
024948,004194:                                                                                                  #        VXRLM           UYVECT
024949,004195:                                                                                                  #        LOSDESRD        NSRCHPNT
024950,004196:                                                                                                  #        DATAGOOD        OMEGAD
024951,004197:                                                                                                  #        MPAC            PUSHLIST
024952,004198: 
024953,004199: 26,3442                                           COUNT*   $$/LRS24                              
024954,004200: 26,3442           34755        LRS24.1            CAF      ZERO                                  
024955,004201: 26,3443           55736                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
024956,004202: 26,3444           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
024957,004203: 26,3445           00006                           EXTEND                                         

Page 589

024959,004205: 26,3446           05012                           WOR      CHAN12                                
024960,004206: 26,3447           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
024961,004207: 26,3450           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
024962,004208: 26,3451           00006                           EXTEND                                         
024963,004209: 26,3452           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
024964,004210: 
024965,004211: 26,3453           33713                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
024966,004212: 26,3454           00004                           INHINT                                         
024967,004213: 26,3455           05203                           TC       WAITLIST                              #  IN 6 SECONDS
024968,004214: 26,3456  E7,1456                                  EBANK=   LOSCOUNT                              
024969,004215: 26,3456           03643 54067                     2CADR    CALLDGCH                              
024970,004216: 
024971,004217: 26,3460           00003                           RELINT                                         
024972,004218: 26,3461           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
024973,004219: 26,3462           74736                           MASK     REMODBIT                              
024974,004220: 26,3463           00006                           EXTEND                                         
024975,004221: 26,3464           15155                           BZF      ENDOFJOB                              #  YES - WAIT SIX SECONDS
024976,004222: 26,3465           06037                           TC       INTPRET                               
024977,004223: 
024978,004224: 26,3466           43234                           RTB      DAD                                   #  COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
024979,004225: 26,3467           21573                                    LOADTIME                              
024980,004226: 26,3470           15715                                    1.5SECS                               
024981,004227: 26,3471           34041        LRS24.11           STCALL   TDEC1                                 
024982,004228: 26,3472           27100                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
024983,004229: 26,3473           77775                           VLOAD                                          
024984,004230: 26,3474           00001                                    RATT                                  
024985,004231: 26,3475           27676                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
024986,004232: 26,3476           00007                                    VATT                                  
024987,004233: 26,3477           17740                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
024988,004234: 26,3500           00015                                    TAT                                   
024989,004235: 26,3501           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
024990,004236: 26,3502           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
024991,004237: 26,3503           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM) - R(LM)
024992,004238: 26,3504           00001                                    RATT                                  
024993,004239: 26,3505           03676                                    RLMSRCH                               
024994,004240: 26,3506           77656                           UNIT                                           
024995,004241: 26,3507           27712                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
024996,004242: 26,3510           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
024997,004243: 26,3511           47256                           UNIT     VXV                                   
024998,004244: 26,3512           00001                                    RATT                                  
024999,004245: 26,3513           77656                           UNIT                                           
025000,004246: 26,3514           03704                           STORE    VXRCM                                 
025001,004247: 26,3515           52375                           VLOAD    VSU                                   
025002,004248: 26,3516           00007                                    VATT                                  
025003,004249: 26,3517           03740                                    SAVLEMV                               
025004,004250: 26,3520           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
025005,004251: 26,3521           01734                                    REFSMMAT                              
025006,004252: 26,3522           03740                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
025007,004253: 26,3523           53135                           SLOAD    BZE                                   #  CHECK IF N=0

Page 590

025009,004255: 26,3524           03737                                    NSRCHPNT                              
025010,004256: 26,3525           55636                                    DESGLOS                               #  YES - DESIGNATE ALONG LOS
025011,004257: 26,3526           53025                           DSU      BZE                                   #  IS N=1
025012,004258: 26,3527           15711                                    ONEOCT                                #  YES - CALCULATE X AND Y AXES OF
025013,004259: 26,3530           55623                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
025014,004260: 26,3531           77775                           VLOAD                                          #  NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025015,004261: 26,3532           03720                                    UXVECT                                
025016,004262: 26,3533           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
025017,004263: 26,3534           03726                                    UYVECT                                #  UXPRIME = ORIGINAL UX
025018,004264: 26,3535           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
025019,004265: 26,3536           77761                           VXSC                                           
025020,004266: 26,3537           15705                                    SIN60DEG                              #  UX = (COS 60)UXPR + (SIN 60)UYPR
025021,004267: 26,3540           27720                           STOVL    UXVECT                                
025022,004268: 26,3541           00015                                    UXVECTPR                              
025023,004269: 26,3542           53361                           VXSC     VAD                                   
025024,004270: 26,3543           06520                                    COS60DEG                              
025025,004271: 26,3544           03720                                    UXVECT                                
025026,004272: 26,3545           77656                           UNIT                                           
025027,004273: 26,3546           27720                           STOVL    UXVECT                                
025028,004274: 26,3547           00015                                    UXVECTPR                              #  UY = (-SIN 60)UXPR + (COS 60)UYPR
025029,004275: 26,3550           77761                           VXSC                                           
025030,004276: 26,3551           15705                                    SIN60DEG                              
025031,004277: 26,3552           27726                           STOVL    UYVECT                                
025032,004278: 26,3553           00023                                    UYVECTPR                              
025033,004279: 26,3554           52361                           VXSC     VSU                                   
025034,004280: 26,3555           06520                                    COS60DEG                              
025035,004281: 26,3556           03726                                    UYVECT                                
025036,004282: 26,3557           77656                           UNIT                                           
025037,004283: 26,3560           03726                           STORE    UYVECT                                
025038,004284: 26,3561           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
025039,004285: 26,3562           15707                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
025040,004286: 26,3563           03712                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
025041,004287: 26,3564           64256                           UNIT     MXV                                   
025042,004288: 26,3565           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
025043,004289: 26,3566           77772                           VSL1                                           
025044,004290: 26,3567           25102        CONTDESG           STOVL    RRTARGET                              
025045,004291: 26,3570           03740                                    SAVLEMV                               
025046,004292: 26,3571           01761                           STORE    LOSVEL                                
025047,004293: 26,3572           77776                           EXIT                                           
025048,004294: 26,3573           00004                           INHINT                                         
025049,004295: 26,3574           06027                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
025050,004296: 26,3575           52602                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
025051,004297:                                                                                                  #  POINT IN THE PATTERN
025052,004298: 26,3576           44735        CONTDES2           CS       CDESBIT                               
025053,004299: 26,3577           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
025054,004300: 26,3600           64735                           AD       CDESBIT                               #  A CONTINUOUS DESIGNATE WANTED.
025055,004301: 26,3601           54110                           TS       RADMODES                              
025056,004302: 26,3602           06037                           TC       INTPRET                               
025057,004303: 
025058,004304: 26,3603           77624                           CALL                                           

Page 591

025060,004306: 26,3604           52373                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
025061,004307: 
025062,004308: 26,3605           77776                           EXIT                                           
025063,004309: 26,3606           03675                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
025064,004310: 26,3607           03675                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
025065,004311: 
025066,004312:                                                                                                  #  COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025067,004313:                                                                                                  #  SPACECRAFT +Z AXIS
025068,004314: 26,3610           00006        OMEGCALC           EXTEND                                         
025069,004315: 26,3611           30036                           DCA      CDUT                                  
025070,004316: 26,3612           53753                           DXCH     TANGNB                                
025071,004317: 26,3613           06037                           TC       INTPRET                               
025072,004318: 26,3614           77624                           CALL                                           
025073,004319: 26,3615           46041                                    RRNB                                  
025074,004320: 26,3616           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025075,004321: 26,3617           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025076,004322: 26,3620           03735                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
025077,004323: 26,3621           77776                           EXIT                                           
025078,004324: 26,3622           05155                           TC       ENDOFJOB                              

Page 592

025080,004326:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025081,004327: 
025082,004328: 26,3623           47375        CALCXY             VLOAD    VXV                                   
025083,004329: 26,3624           03704                                    VXRCM                                 
025084,004330: 26,3625           03712                                    LOSDESRD                              
025085,004331: 26,3626           77656                           UNIT                                           
025086,004332: 26,3627           27720                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
025087,004333: 26,3630           03712                                    LOSDESRD                              
025088,004334: 26,3631           53435                           VXV      UNIT                                  
025089,004335: 26,3632           03720                                    UXVECT                                
025090,004336: 26,3633           03726                           STORE    UYVECT                                #  UY = LOS X UX
025091,004337: 26,3634           77650                           GOTO                                           
025092,004338: 26,3635           55561                                    OFFCALC                               
025093,004339: 
025094,004340: 26,3636           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
025095,004341: 26,3637           03712                                    LOSDESRD                              
025096,004342: 26,3640           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
025097,004343: 26,3641           52172                           VSL1     GOTO                                  
025098,004344: 26,3642           55567                                    CONTDESG                              
025099,004345: 
025100,004346: 26,3643           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
025101,004347: 26,3644           74745                           MASK     RNDVZBIT                              
025102,004348: 26,3645           00006                           EXTEND                                         
025103,004349: 26,3646           15261                           BZF      TASKOVER                              #  NO - EXIT R24
025104,004350: 26,3647           37713                           CAF      PRIO25                                #  YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025105,004351: 26,3650           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
025106,004352: 26,3651  E7,1675                                  EBANK=   RLMSRCH                               
025107,004353: 26,3651           03654 54067                     2CADR    DATGDCHK                              
025108,004354: 
025109,004355: 26,3653           05261                           TC       TASKOVER                              
025110,004356: 
025111,004357: 26,3654           34750        DATGDCHK           CAF      BIT4                                  
025112,004358: 26,3655           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
025113,004359: 26,3656           02033                           RAND     CHAN33                                
025114,004360: 26,3657           00006                           EXTEND                                         
025115,004361: 26,3660           13667                           BZF      STORE1S                               #  YES - GO TO STORE 11111 FOR DISPLAY IN R1
025116,004362: 26,3661           46242                           CS       SIX                                   
025117,004363: 26,3662           61736                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
025118,004364: 26,3663           00006                           EXTEND                                         
025119,004365: 26,3664           13442                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
025120,004366: 26,3665           25736                           INCR     NSRCHPNT                              #  NO-SET N = N+1 AN GO TO
025121,004367: 26,3666           13444                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
025122,004368: 
025123,004369: 26,3667           33703        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
025124,004370: 26,3670           55733                           TS       DATAGOOD                              

Page 593

025126,004372: 26,3671           00004                           INHINT                                         
025127,004373: 26,3672           06027                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
025128,004374: 26,3673           52602                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
025129,004375: 26,3674           05155                           TC       ENDOFJOB                              
025130,004376: 
025131,004377: 26,3675           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527 - LOS NOT IN MODE2
025132,004378: 26,3676           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
025133,004379: 26,3677           00004                           INHINT                                         #  REQUIRED IN P20
025134,004380: 26,3700           06027                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
025135,004381: 26,3701           55643                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
025136,004382: 26,3702           05155                           TC       ENDOFJOB                              
025137,004383: 
025138,004384: 26,3703           25547        ALL1S              DEC      11111      B-14                       
025139,004385: 26,3704           33555 01106  SIN60DEG           2DEC     .86603                                
025140,004386: 26,3706  23,2517               COS60DEG           =        DPHALF                                #  (2DEC .50)
025141,004387: 26,3706                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
025142,004388: 26,3706                        UYVECTPR           EQUALS   18D                                   
025143,004389: 26,3706                        RLMUNIT            EQUALS   12D                                   
025144,004390: 26,3706           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
025145,004391: 
025146,004392: 26,3710           00001        ONEOCT             OCT      00001                                 #  **** NOTE - THESE TWO CONSTANTS MUST ****
025147,004393: 26,3711           00000 00454  3SECONDS           2DEC     300        B-28                       #  **** BE IN THIS ORDER BECAUSE         ****
025148,004394: 
025149,004395:                                                                                                  #  **** ONEOCT NEEDS A LOWER ORDER       ****
025150,004396:                                                                                                  #  **** WORD OF ZEROES                   ****
025151,004397: 26,3713           01130        6SECONDS           DEC      600        B-14                       
025152,004398: 26,3714           00000 00226  1.5SECS            2DEC     150        B-28                       
025153,004399: 
025154,004400: 26,3716  23,2521               ZERO/SP            EQUALS   HI6ZEROS                              
025155,004401: 
025156,004402:    4616                                           BLOCK    02                                    
025157,004403:    6000                                           SETLOC   FFTAG5                                
025158,004404:    6000                                           BANK                                           
025159,004405:    6022                                           COUNT*   $$/P20                                
025160,004406:    6022           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
025161,004407:    6023           36026                           DCA      VB56CADR                              #  GOTOPOOH
025162,004408:    6024           15165                           TCF      SUPDXCHZ                              
025163,004409:    6025  E7,1471                                  EBANK=   WHOCARES                              
025164,004410:    6025           03024 66107  VB56CADR           2CADR    TRMTRACK                              
025165,004411: 

Page 594

025167,004413:                                                                                                  #  PROGRAM NAME: R29     (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025168,004414:                                                                                                  #  MOD NO. 2     BY H. BLAIR-SMITH       JULY 2, 1968.
025169,004415: 
025170,004416:                                                                                                  #  FUNCTIONAL DESCRIPTION:
025171,004417: 
025172,004418:                                                                                                  #        DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025173,004419:                                                                                                  #        AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
025174,004420:                                                                                                  #        THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
025175,004421:                                                                                                  #        THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025176,004422:                                                                                                  #        DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025177,004423:                                                                                                  #        INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
025178,004424: 
025179,004425:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025180,004426: 
025181,004427:                                                                                                  #  SUBROUTINES CALLED:
025182,004428: 
025183,004429:                                                                                                  #        REMODE          RRTONLY
025184,004430:                                                                                                  #        UNIT            MPACVBUF
025185,004431:                                                                                                  #        QUICTRIG        AX*SR*T
025186,004432:                                                                                                  #        SPSIN           SPCOS
025187,004433:                                                                                                  #        SETRRECR        RROUT
025188,004434:                                                                                                  #        RRRDOT          RRRANGE
025189,004435: 
025190,004436:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
025191,004437: 
025192,004438:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
025193,004439: 
025194,004440:                                                                                                  #        RM              RDOTM           (RAW)
025195,004441:                                                                                                  #        AIG             AMG             
025196,004442:                                                                                                  #        AOG             TRKMKCNT        TRKMKCNT = 00001 IF SET IS CONSISTENT,
025197,004443:                                                                                                  #        TANGNB          TANGNB +1       OTHERWISE TRKMKCNT = 00000.
025198,004444:                                                                                                  #        MKTIME

Page 595

025200,004446: 
025201,004447:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
025202,004448: 
025203,004449:                                                                                                  #        NOR29FLG        READRFLG                (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025204,004450:                                                                                                  #        PIPTIME         RADMODES (BIT 10)       (BIT SET TO 0 BY FRESH START)
025205,004451:                                                                                                  #        R(CSM)          V(CSM)
025206,004452:                                                                                                  #        R               V                       (PIPTIME THRU V BY AVE G IN SERVICER)
025207,004453: 
025208,004454:                                                                                                  #  DEBRIS:
025209,004455: 
025210,004456:                                                                                                  #        RADMODES (BIT 10)
025211,004457:                                                                                                  #        LOSSM           LOSVDT/4                (= RRTARGET & LOSVEL)
025212,004458:                                                                                                  #        SAVECDUT        OLDESFLG                (SAVECDUT = MLOSV)
025213,004459:                                                                                                  #        LOSCMFLG        READRFLG
025214,004460: 
025215,004461:                                                                                                  #  ALARMS:  NONE.
025216,004462: 
025217,004463:                                                                                                  #  COMPONENT JOBS AND TASKS:
025218,004464: 
025219,004465:                                                                                                  #        INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
025220,004466:                                                                                                  #        DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
025221,004467:                                                                                                  #        RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
025222,004468: 
025223,004469: 33,2045                                           BANK     33                                    
025224,004470: 33,2000                                           SETLOC   R29/SERV                              
025225,004471: 33,2000                                           BANK                                           
025226,004472: 
025227,004473: 33,2045                                           COUNT*   $$/r29                                
025228,004474: 
025229,004475: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
025230,004476: 

Page 596

025232,004478:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025233,004479:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025234,004480: 
025235,004481: 33,2045           40110        R29                CS       RADMODES                              
025236,004482: 33,2046           74742                           MASK     DESIGBIT                              
025237,004483: 33,2047           00006                           EXTEND                                         
025238,004484: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
025239,004485: 
025240,004486: 33,2051           00004                           INHINT                                         
025241,004487: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
025242,004488: 33,2053           44736                           CS       BIT14                                 
025243,004489: 33,2054           00006                           EXTEND                                         
025244,004490: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
025245,004491: 33,2056           44740                           CS       LOSCMBIT                              
025246,004492: 33,2057           70076                           MASK     FLAGWRD2                              
025247,004493: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025248,004494: 33,2061           44753                           CS       OLDESBIT                              
025249,004495: 33,2062           70074                           MASK     STATE                                 
025250,004496: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
025251,004497: 33,2064           04616                           TC       BANKCALL                              
025252,004498: 33,2065           52156                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
025253,004499: 33,2066           34740                           CA       ANTENBIT                              
025254,004500: 33,2067           70110                           MASK     RADMODES                              
025255,004501: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
025256,004502: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
025257,004503: 
025258,004504: 33,2072           35031                           CA       PRIO21                                #  MODE 1;  MUST REMODE.
025259,004505: 33,2073           05072                           TC       NOVAC                                 
025260,004506: 33,2074  E7,1456                                  EBANK=   LOSCOUNT                              
025261,004507: 33,2074           02113 66067                     2CADR    R29REM0J                              #  NEEDS OWN JOB TO RADSTALL IN.
025262,004508: 
025263,004509: 33,2076           44742                           CS       DESIGBIT                              
025264,004510: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
025265,004511: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
025266,004512: 33,2101           34736                           CA       REMODBIT                              
025267,004513: 33,2102           26110                           ADS      RADMODES                              #  SHOW THAT REMODING IS ON.
025268,004514: 33,2103           12570                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
025269,004515: 
025270,004516: 33,2104           34753        SETPRPOS           CA       ONE                                   
025271,004517: 33,2105           05203                           TC       WAITLIST                              
025272,004518: 33,2106  E7,1456                                  EBANK=   LOSCOUNT                              
025273,004519: 33,2106           03601 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
025274,004520: 
025275,004521: 33,2110           34741                           CA       REPOSBIT                              
025276,004522: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
025277,004523: 33,2112           12570                           TCF      NOR29NOW                              
025278,004524: 

Page 597

025280,004526:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
025281,004527: 
025282,004528: 33,2113           34753        R29REM0J           CA       ONE                                   
025283,004529: 33,2114           05203                           TC       WAITLIST                              
025284,004530: 33,2115  E7,1456                                  EBANK=   LOSCOUNT                              
025285,004531: 33,2115           02171 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
025286,004532: 
025287,004533: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
025288,004534: 33,2120           17714                           CADR     RADSTALL                              
025289,004535: 
025290,004536: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
025291,004537: 33,2122           15155                           TCF      ENDOFJOB                              
025292,004538: 
025293,004539:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025294,004540: 
025295,004541: 25,2000                                           SETLOC   R29S1                                 
025296,004542: 25,2000                                           BANK                                           
025297,004543: 
025298,004544: 25,3601           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
025299,004545: 25,3602           02241                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
025300,004546: 25,3603           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
025301,004547: 25,3604           70110                           MASK     RADMODES                              
025302,004548: 25,3605           54110                           TS       RADMODES                              
025303,004549: 25,3606           15261                           TCF      TASKOVER                              
025304,004550: 
025305,004551:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025306,004552: 
025307,004553: 33,2045                                           SETLOC   R29                                   
025308,004554: 33,2045                                           BANK                                           
025309,004555: 
025310,004556: 33,2123           00006        R29.LOS            EXTEND                                         
025311,004557: 33,2124           41235                           DCS      PIPTIME                               
025312,004558: 33,2125           52155                           DXCH     MPAC                                  
025313,004559: 33,2126           00006                           EXTEND                                         
025314,004560: 33,2127           30025                           DCA      TIME2                                 
025315,004561: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
025316,004562: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
025317,004563: 33,2132           30155                           CA       MPAC       +1                         
025318,004564: 33,2133           00006                           EXTEND                                         
025319,004565: 33,2134           74740                           MP       BIT12                                 
025320,004566: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
025321,004567: 33,2136           06037                           TC       INTPRET                               

Page 598

025323,004569:                                                                                                  #  LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025324,004570:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
025325,004571: 
025326,004572: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
025327,004573: 33,2140           01726                                    V(CSM)                                
025328,004574: 33,2141           03527                                    V                                     #  LOSVEL = V(CSM) - V.
025329,004575: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025330,004576: 33,2143           52255                           VAD      VSU                                   #        AND ADD THE RESULT TO R(CSM) - R TO GET
025331,004577: 33,2144           01720                                    R(CSM)                                #        AN UP-TO-DATE LOS VECTOR IN SM AXES.
025332,004578: 33,2145           03521                                    R                                     
025333,004579: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
025334,004580: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025335,004581: 33,2150           66152                                    SETUP29D                              #  FLG TO ON AND GO TO SET UP NEW DATA.
025336,004582: 33,2151           12570                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
025337,004583: 
025338,004584: 33,2152           25102        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025339,004585: 33,2153           00001                                    0                                     
025340,004586: 33,2154           77761                           VXSC                                           
025341,004587: 33,2155           26177                                    .5SECB17                              
025342,004588: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
025343,004589: 33,2157           77414                           CLEAR    EXIT                                  
025344,004590: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
025345,004591: 
025346,004592: 33,2161           40074                           CS       STATE                                 
025347,004593: 33,2162           74753                           MASK     OLDESBIT                              
025348,004594: 33,2163           00006                           EXTEND                                         
025349,004595: 33,2164           12570                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
025350,004596: 33,2165           00004                           INHINT                                         
025351,004597: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
025352,004598: 
025353,004599: 33,2167           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025354,004600: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
025355,004601: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
025356,004602: 33,2172           05203                           TC       WAITLIST                              
025357,004603: 33,2173  E7,1456                                  EBANK=   LOSCOUNT                              
025358,004604: 33,2173           03356 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
025359,004605: 
025360,004606: 33,2175           12570                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
025361,004607: 
025362,004608: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
025363,004609: 

Page 599

025365,004611:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025366,004612:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025367,004613: 
025368,004614: 24,3356                                           BANK     24                                    
025369,004615: 24,2000                                           SETLOC   P20S                                  
025370,004616: 24,2000                                           BANK                                           
025371,004617: 
025372,004618: 24,3356                                           COUNT*   $$/R29                                
025373,004619: 
025374,004620: 24,3356           35031        BEGDES29           CAF      PRIO21                                
025375,004621: 24,3357           05072                           TC       NOVAC                                 
025376,004622: 24,3360  E3,1760                                  EBANK=   LOSVDT/4                              
025377,004623: 24,3360           02547 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
025378,004624: 
025379,004625: 24,3362           34774        R29DLOOP           CAF      .5SEC                                 
025380,004626: 24,3363           05224                           TC       VARDELAY                              
025381,004627: 
025382,004628: 24,3364           40110                           CS       RADMODES                              
025383,004629: 24,3365           74742                           MASK     DESIGBIT                              
025384,004630: 24,3366           10000                           CCS      A                                     
025385,004631: 24,3367           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
025386,004632: 
025387,004633: 24,3370           40076                           CS       FLAGWRD2                              
025388,004634: 24,3371           74740                           MASK     LOSCMBIT                              
025389,004635: 24,3372           00006                           EXTEND                                         
025390,004636: 24,3373           13376                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025391,004637: 24,3374           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
025392,004638: 24,3375           13356                           TCF      BEGDES29                              
025393,004639: 
025394,004640: 24,3376           34753                           CA       ONE                                   
025395,004641: 24,3377           13363                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.

Page 600

025397,004643:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
025398,004644: 
025399,004645:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
025400,004646:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025401,004647:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025402,004648:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025403,004649:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025404,004650: 
025405,004651:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025406,004652:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
025407,004653: 
025408,004654: 32,2547                                           BANK     32                                    
025409,004655: 32,2000                                           SETLOC   F2DPS*32                              
025410,004656: 32,2000                                           BANK                                           
025411,004657: 
025412,004658: 32,2547                                           COUNT*   $$/R29                                
025413,004659: 32,2547  E3,1760                                  EBANK=   LOSVDT/4                              
025414,004660: 
025415,004661: 32,2547           34753        R29DODES           CA       ONE                                   
025416,004662: 32,2550           55107                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
025417,004663: 32,2551           34756                           CA       FIVE                                  
025418,004664: 
025419,004665: 32,2552           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
025420,004666: 32,2553           54002                           TS       Q                                     
025421,004667: 32,2554           11107                           CCS      TANG                                  
025422,004668: 32,2555           12563                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
025423,004669: 
025424,004670: 32,2556           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
025425,004671: 32,2557           50002                           INDEX    Q                                     
025426,004672: 32,2560           31761                           DCA      LOSVDT/4                              
025427,004673: 32,2561           50002                           INDEX    Q                                     
025428,004674: 32,2562           21102                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
025429,004675: 
025430,004676: 32,2563           00006        R29DPAS1           EXTEND                                         
025431,004677: 32,2564           50002                           INDEX    Q                                     
025432,004678: 32,2565           31102                           DCA      LOSSM                                 
025433,004679: 32,2566           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025434,004680: 32,2567           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
025435,004681: 32,2570           11107                           CCS      TANG                                  
025436,004682: 32,2571           12577                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
025437,004683: 
025438,004684: 32,2572           00006                           EXTEND                                         
025439,004685: 32,2573           50002                           INDEX    Q                                     
025440,004686: 32,2574           31761                           DCA      LOSVDT/4                              
025441,004687: 32,2575           50002                           INDEX    Q                                     
025442,004688: 32,2576           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025443,004689: 
025444,004690: 32,2577           10002        R29DVEND           CCS      Q                                     
025445,004691: 32,2600           12552                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
025446,004692: 

Page 601

025448,004694:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025449,004695: 
025450,004696: 32,2601           52156                           DXCH     MPAC       +1                         
025451,004697: 32,2602           52155                           DXCH     MPAC                                  
025452,004698: 32,2603           32774                           CA       R29FXLOC                              #  = ADRES INTB15 + -34D
025453,004699: 32,2604           54120                           TS       FIXLOC                                
025454,004700: 32,2605           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025455,004701: 32,2606           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
025456,004702: 32,2607           07532                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025457,004703: 
025458,004704: 32,2610           11107                           CCS      TANG                                  
025459,004705: 32,2611           12613                           TCF      +2                                    
025460,004706: 32,2612           12627                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
025461,004707: 32,2613           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
025462,004708: 32,2614           00006                           EXTEND                                         
025463,004709: 32,2615           30036                           DCA      CDUT                                  
025464,004710: 32,2616           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
025465,004711: 32,2617           30033                           CA       CDUY                                  
025466,004712: 32,2620           54766                           TS       CDUSPOT                               
025467,004713: 32,2621           30034                           CA       CDUZ                                  
025468,004714: 32,2622           54770                           TS       CDUSPOT    +2                         
025469,004715: 32,2623           30032                           CA       CDUX                                  
025470,004716: 32,2624           54772                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025471,004717: 32,2625           04616                           TC       BANKCALL                              
025472,004718: 32,2626           47615                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
025473,004719: 
025474,004720: 32,2627           46245        GOTANGLS           CS       THREE                                 
025475,004721: 32,2630           04616                           TC       BANKCALL                              
025476,004722: 32,2631           47675                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025477,004723: 
025478,004724: 32,2632           11107                           CCS      TANG                                  
025479,004725: 32,2633           12635                           TCF      +2                                    
025480,004726: 32,2634           12702                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
025481,004727: 

Page 602

025483,004729:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025484,004730:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025485,004731: 
025486,004732: 32,2635           00004                           INHINT                                         
025487,004733: 32,2636           55107                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
025488,004734: 32,2637           31766                           CA       SAVECDUT                              
025489,004735: 32,2640           05032                           TC       SPCOS                                 
025490,004736: 32,2641           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
025491,004737: 32,2642           41766                           CS       SAVECDUT                              
025492,004738: 32,2643           05033                           TC       SPSIN                                 
025493,004739: 32,2644           54163                           TS       MODE                                  #  MODE = -SIN T.
025494,004740: 32,2645           00006                           EXTEND                                         
025495,004741: 32,2646           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
025496,004742: 32,2647           52155                           DXCH     MPAC                                  
025497,004743: 32,2650           31767                           CA       SAVECDUT   +1                         
025498,004744: 32,2651           05033                           TC       SPSIN                                 
025499,004745: 32,2652           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
025500,004746: 32,2653           00006                           EXTEND                                         
025501,004747: 32,2654           70166                           MP       PUSHLOC                               
025502,004748: 32,2655           00006                           EXTEND                                         
025503,004749: 32,2656           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
025504,004750: 32,2657           20155                           DAS      MPAC                                  
025505,004751: 32,2660           31767                           CA       SAVECDUT   +1                         
025506,004752: 32,2661           05032                           TC       SPCOS                                 
025507,004753: 32,2662           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S.
025508,004754: 32,2663           00006                           EXTEND                                         
025509,004755: 32,2664           70166                           MP       PUSHLOC                               
025510,004756: 32,2665           00006                           EXTEND                                         
025511,004757: 32,2666           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
025512,004758: 32,2667           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
025513,004759: 32,2670           00006                           EXTEND                                         #  -SIN T, COS S COS T).
025514,004760: 32,2671           30155                           DCA      MPAC                                  
025515,004761: 32,2672           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025516,004762: 32,2673           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
025517,004763: 32,2674           34736                           CA       BIT14                                 
025518,004764: 32,2675           12676                           NOOP                                           
025519,004765: 32,2676           00006                           EXTEND                                         
025520,004766: 32,2677           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025521,004767: 32,2700           00003                           RELINT                                         
025522,004768: 32,2701           12551                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
025523,004769: 

Page 603

025525,004771:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025526,004772: 
025527,004773: 32,2702           31767        R29DPAS2           CA       SAVECDUT   +1                         
025528,004774: 32,2703           00006                           EXTEND                                         
025529,004775: 32,2704           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
025530,004776: 32,2705           53110                           DXCH     TANG                                  
025531,004777: 32,2706           41766                           CS       SAVECDUT                              
025532,004778: 32,2707           00006                           EXTEND                                         
025533,004779: 32,2710           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
025534,004780: 32,2711           21110                           DAS      TANG                                  #  RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025535,004781: 32,2712           40163                           CS       MODE                                  #  - SIN S)
025536,004782: 32,2713           00006                           EXTEND                                         
025537,004783: 32,2714           71766                           MP       SAVECDUT                              
025538,004784: 32,2715           00006                           EXTEND                                         
025539,004785: 32,2716           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
025540,004786: 32,2717           52155                           DXCH     MPAC                                  
025541,004787: 32,2720           30166                           CA       PUSHLOC                               
025542,004788: 32,2721           00006                           EXTEND                                         
025543,004789: 32,2722           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
025544,004790: 32,2723           20155                           DAS      MPAC                                  
025545,004791: 32,2724           40163                           CS       MODE                                  
025546,004792: 32,2725           00006                           EXTEND                                         
025547,004793: 32,2726           71767                           MP       SAVECDUT   +1                         
025548,004794: 32,2727           00006                           EXTEND                                         
025549,004795: 32,2730           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
025550,004796: 32,2731           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
025551,004797: 32,2732           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
025552,004798: 32,2733           00006                           EXTEND                                         
025553,004799: 32,2734           72775                           MP       RR29GAIN                              
025554,004800: 32,2735           57107                           XCH      TANG                                  #  STORE REFINED T CMD, GET RAW S CMD.
025555,004801: 32,2736           00006                           EXTEND                                         
025556,004802: 32,2737           72775                           MP       RR29GAIN                              
025557,004803: 32,2740           55110                           TS       TANG       +1                         #  STORE REFINED S CMD.
025558,004804: 

Page 604

025560,004806:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
025561,004807:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
025562,004808: 
025563,004809: 32,2741           34750        DGOOD?             CAF      BIT4                                  
025564,004810: 32,2742           00006                           EXTEND                                         
025565,004811: 32,2743           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
025566,004812: 32,2744           00004                           INHINT                                         #  (MAINLY FOR RROUT).
025567,004813: 32,2745           00006                           EXTEND                                         
025568,004814: 32,2746           12752                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
025569,004815: 
025570,004816: 32,2747           04616                           TC       BANKCALL                              
025571,004817: 32,2750           52306                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025572,004818: 32,2751           12770                           TCF      END29DOD                              
025573,004819: 
025574,004820: 32,2752           44742        R29LOKON           CS       DESIGBIT                              
025575,004821: 32,2753           70110                           MASK     RADMODES                              
025576,004822: 32,2754           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
025577,004823: 32,2755           44752                           CS       BIT2                                  
025578,004824: 32,2756           00006                           EXTEND                                         
025579,004825: 32,2757           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
025580,004826: 32,2760           34743                           CA       READRBIT                              
025581,004827: 32,2761           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
025582,004828: 32,2762           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
025583,004829: 32,2763           44776                           CS       SUPER110                              #  -96D + 100D = 4.
025584,004830: 32,2764           64777                           AD       1SEC                                  #  0 + 100D = 100D.
025585,004831: 32,2765           05203                           TC       WAITLIST                              
025586,004832: 32,2766  E7,1456                                  EBANK=   LOSCOUNT                              
025587,004833: 32,2766           03400 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
025588,004834: 
025589,004835: 32,2770           44740        END29DOD           CS       LOSCMBIT                              
025590,004836: 32,2771           70076                           MASK     FLAGWRD2                              
025591,004837: 32,2772           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
025592,004838: 32,2773           15155                           TCF      ENDOFJOB                              
025593,004839: 
025594,004840: 32,2774           00052        R29FXLOC           ADRES    INTB15+    -34D                       
025595,004841: 32,2775           56655        RR29GAIN           DEC      -.53624                               
025596,004842: 32,2776  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
025597,004843: 32,2776     1101               LOSSM              EQUALS   RRTARGET                              
025598,004844: 32,2776  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
025599,004845: 

Page 605

025601,004847:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025602,004848: 
025603,004849: 24,3400                                           BANK     24                                    
025604,004850: 24,2000                                           SETLOC   P20S                                  
025605,004851: 24,2000                                           BANK                                           
025606,004852: 
025607,004853: 24,3400                                           COUNT*   $$/R29                                
025608,004854: 
025609,004855: 24,3400  E7,1456                                  EBANK=   LOSCOUNT                              
025610,004856: 
025611,004857: 24,3400           37714        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
025612,004858: 24,3401           05072                           TC       NOVAC                                 
025613,004859: 24,3402  E7,1456                                  EBANK=   LOSCOUNT                              
025614,004860: 24,3402           03413 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
025615,004861: 
025616,004862: 24,3404           35000                           CA       2SECS                                 
025617,004863: 24,3405           05224                           TC       VARDELAY                              
025618,004864: 
025619,004865: 24,3406           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
025620,004866: 24,3407           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
025621,004867: 24,3410           10000                           CCS      A                                     
025622,004868: 24,3411           13400                           TCF      R29READ                               #  IT'S OK;  CALL IT AGAIN.
025623,004869: 24,3412           15261                           TCF      TASKOVER                              #  IT AIN'T;  WAIT FOR REDESIGNATE.
025624,004870: 
025625,004871: 24,3413           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
025626,004872: 24,3414           74741                           MASK     NR29FBIT                              
025627,004873: 24,3415           10000                           CCS      A                                     #  TEST "NOR29FLG".
025628,004874: 24,3416           13475                           TCF      ENDRRD29                              #  R29 IS NOW OVER, STOP AT ONCE.
025629,004875: 
025630,004876: 24,3417           30110                           CA       RADMODES                              
025631,004877: 24,3420           74752                           MASK     AUTOMBIT                              
025632,004878: 24,3421           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
025633,004879: 24,3422           13475                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
025634,004880: 
025635,004881: 24,3423           04616                           TC       BANKCALL                              
025636,004882: 24,3424           53103                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
025637,004883: 24,3425           04616                           TC       BANKCALL                              
025638,004884: 24,3426           17714                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
025639,004885: 24,3427           13475                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
025640,004886: 

Page 606

025642,004888:                                                                                                  #  R29 RADAR READING CONTINUED.
025643,004889: 
025644,004890: 24,3430           53106                           DXCH     TIMEHOLD                              
025645,004891: 24,3431           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
025646,004892: 24,3432           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
025647,004893: 24,3433           00006                           EXTEND                                         
025648,004894: 24,3434           30036                           DCA      CDUT                                  
025649,004895: 24,3435           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
025650,004896: 24,3436           00006                           EXTEND                                         
025651,004897: 24,3437           30034                           DCA      CDUY                                  
025652,004898: 24,3440           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
025653,004899: 24,3441           30032                           CA       CDUX                                  
025654,004900: 24,3442           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
025655,004901: 
025656,004902: 24,3443           04616        R29RANGE           TC       BANKCALL                              
025657,004903: 24,3444           53105                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
025658,004904: 24,3445           04616                           TC       BANKCALL                              
025659,004905: 24,3446           17714                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
025660,004906: 24,3447           13466                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
025661,004907: 
025662,004908: 24,3450           00004                           INHINT                                         
025663,004909: 24,3451           53334                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
025664,004910: 24,3452           53757                           DXCH     RM                                    
025665,004911: 24,3453           52155                           DXCH     MPAC                                  
025666,004912: 24,3454           53755                           DXCH     MKTIME                                
025667,004913: 24,3455           52157                           DXCH     MPAC       +2                         
025668,004914: 24,3456           53753                           DXCH     TANGNB                                
025669,004915: 24,3457           52161                           DXCH     MPAC       +4                         
025670,004916: 24,3460           53460                           DXCH     AIG                                   
025671,004917: 24,3461           30162                           CA       MPAC       +6                         
025672,004918: 24,3462           55461                           TS       AOG                                   
025673,004919: 24,3463           34753                           CA       ONE                                   
025674,004920: 24,3464           55462                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
025675,004921: 24,3465           15155                           TCF      ENDOFJOB                              
025676,004922: 
025677,004923: 24,3466           40101        R29RRR?            CS       FLAGWRD5                              
025678,004924: 24,3467           74742                           MASK     BIT10                                 
025679,004925: 24,3470           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
025680,004926: 24,3471           13475                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
025681,004927: 24,3472           05516                           TC       DOWNFLAG                              
025682,004928: 24,3473           00120                           ADRES    RNGSCFLG                              
025683,004929: 24,3474           13443                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
025684,004930: 
025685,004931: 24,3475           34755        ENDRRD29           CA       ZERO                                  #  TROUBLE MADE US COME HERE TO LEAVE THE
025686,004932: 24,3476           55462                           TS       TRKMKCNT                              #  RR-READING MODE.  DISCREDIT DOWNTEL.
025687,004933: 24,3477           05516                           TC       DOWNFLAG                              
025688,004934: 24,3500           00063                           ADRES    READRFLG                              
025689,004935: 24,3501           44736                           CS       BIT14                                 
025690,004936: 24,3502           00006                           EXTEND                                         

Page 607

025692,004938: 24,3503           03012                           WAND     CHAN12                                #  REMOVE TRACK-ENABLE DISCRETE.
025693,004939: 24,3504           15155                           TCF      ENDOFJOB                              
025694,004940: 

Page 608

025696,004942:                                                                                                  #  W-MATRIX MONITOR
025697,004943: 
025698,004944: 31,2007                                           BANK     31                                    
025699,004945: 31,2000                                           SETLOC   VB67                                  
025700,004946: 31,2000                                           BANK                                           
025701,004947: 31,2007                                           COUNT*   $$/EXTVB                              
025702,004948: 
025703,004949: 31,2007  E4,1600                                  EBANK=   WWPOS                                 
025704,004950: 
025705,004951: 31,2007           06037        V67CALL            TC       INTPRET                               
025706,004952: 31,2010           77624                           CALL                                           
025707,004953: 31,2011           62120                                    V67WW                                 
025708,004954: 31,2012           77776                           EXIT                                           
025709,004955: 31,2013           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
025710,004956: 31,2014           31601                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
025711,004957: 31,2015           53607                           DXCH     WWBIAS     +2                         
025712,004958: 31,2016           00006                           EXTEND                                         
025713,004959: 31,2017           31603                           DCA      WWVEL                                 
025714,004960: 31,2020           53611                           DXCH     WWBIAS     +4                         
025715,004961: 31,2021           00006                           EXTEND                                         
025716,004962: 31,2022           31605                           DCA      WWBIAS                                
025717,004963: 31,2023           53613                           DXCH     WWBIAS     +6                         
025718,004964: 31,2024           32143        V06N99DS           CAF      V06N99                                
025719,004965: 31,2025           04616                           TC       BANKCALL                              
025720,004966: 31,2026           20334                           CADR     GOXDSPF                               
025721,004967: 31,2027           15472                           TCF      ENDEXT                                
025722,004968: 31,2030           12032                           TCF      V6N99PRO                              
025723,004969: 31,2031           12024                           TCF      V06N99DS                              
025724,004970: 31,2032           22007        V6N99PRO           ZL                                             
025725,004971: 31,2033           34756                           CA       FIVE                                  
025726,004972: 31,2034           54002        N99LOOP            TS       Q                                     
025727,004973: 31,2035           50002                           INDEX    Q                                     
025728,004974: 31,2036           41600                           CS       WWPOS                                 
025729,004975: 31,2037           50002                           INDEX    Q                                     
025730,004976: 31,2040           61606                           AD       WWPOS      +6                         
025731,004977: 31,2041           26001                           ADS      L                                     
025732,004978: 31,2042           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
025733,004979: 31,2043           12034                           TCF      N99LOOP                               
025734,004980: 31,2044           22000                           LXCH     A                                     
025735,004981: 31,2045           00006                           EXTEND                                         
025736,004982: 31,2046           12051                           BZF      V06N9933                              
025737,004983: 31,2047           05504                           TC       UPFLAG                                
025738,004984: 31,2050           00160                           ADRES    V67FLAG                               
025739,004985: 
025740,004986: 31,2051           06037        V06N9933           TC       INTPRET                               
025741,004987: 31,2052           77414                           BON      EXIT                                  
025742,004988: 31,2053           03707                                    V67FLAG                               
025743,004989: 31,2054           62056                                    +2                                    
025744,004990: 31,2055           15472                           TCF      ENDEXT                                
025745,004991: 31,2056           77745                           DLOAD                                          

Page 609

025747,004993: 31,2057           02201                                    WWPOS                                 
025748,004994: 31,2060           72412                           SL4      SL1                                   
025749,004995: 31,2061           14001                           STODL    0D                                    
025750,004996: 31,2062           02203                                    WWVEL                                 
025751,004997: 31,2063           14003                           STODL    2D                                    
025752,004998: 31,2064           02205                                    WWBIAS                                
025753,004999: 31,2065           77661                           SL                                             #  SHIFT FROM NOUN SCALING (B-5) TO
025754,005000: 31,2066           20213                                    10D                                   #  INTERNAL SCALING (B+5)
025755,005001: 31,2067           00005                           STORE    4D                                    
025756,005002: 31,2070           72014                           BON      LXA,1                                 
025757,005003: 31,2071           04307                                    SURFFLAG                              
025758,005004: 31,2072           62102                                    V67SURF                               
025759,005005: 31,2073           00000                                    0D                                    
025760,005006: 31,2074           72130                           SXA,1    LXA,1                                 
025761,005007: 31,2075           02000                                    WRENDPOS                              
025762,005008: 31,2076           00002                                    2D                                    
025763,005009: 31,2077           52130                           SXA,1    GOTO                                  
025764,005010: 31,2100           02001                                    WRENDVEL                              
025765,005011: 31,2101           62110                                    V67CLRF                               
025766,005012: 31,2102           66150        V67SURF            LXA,1    SXA,1                                 
025767,005013: 31,2103           00000                                    0D                                    
025768,005014: 31,2104           02006                                    WSURFPOS                              
025769,005015: 31,2105           66150                           LXA,1    SXA,1                                 
025770,005016: 31,2106           00002                                    2D                                    
025771,005017: 31,2107           02007                                    WSURFVEL                              
025772,005018: 31,2110           66150        V67CLRF            LXA,1    SXA,1                                 
025773,005019: 31,2111           00004                                    4D                                    
025774,005020: 31,2112           02003                                    WTRUN                                 
025775,005021: 31,2113           77730                           SXA,1                                          
025776,005022: 31,2114           02002                                    WSHAFT                                
025777,005023: 31,2115           77414                           CLEAR    EXIT                                  
025778,005024: 31,2116           02676                                    RENDWFLG                              
025779,005025: 31,2117           15472                           TCF      ENDEXT                                
025780,005026: 31,2120           40020        V67WW              STQ      BOV                                   
025781,005027: 31,2121           00051                                    S2                                    
025782,005028: 31,2122           62123                                    +1                                    
025783,005029: 31,2123           45014                           CLEAR    CALL                                  
025784,005030: 31,2124           03667                                    V67FLAG                               
025785,005031: 31,2125           27414                                    INTSTALL                              
025786,005032: 31,2126           71331                           SSP      DLOAD                                 
025787,005033: 31,2127           00051                                    S1                                    
025788,005034: 31,2130           00006                           DEC      6          B-14                       
025789,005035: 31,2131           06522                                    ZEROVECS                              
025790,005036: 31,2132           02201                           STORE    WWPOS                                 
025791,005037: 31,2133           02203                           STORE    WWVEL                                 
025792,005038: 31,2134           02205                           STORE    WWBIAS                                
025793,005039: 31,2135           77770                           AXT,1                                          
025794,005040: 31,2136           00066                           DEC      54         B-14                       
025795,005041: 31,2137           47573        NXPOSVEL           VLOAD*   VSQ                                   
025796,005042: 31,2140           02467                                    W          +54D,1                     

Page 610

025798,005044: 31,2141           77650                           GOTO                                           
025799,005045: 31,2142           60002                                    ADDPOS                                
025800,005046: 31,2143           01543        V06N99             VN       0699                                  
025801,005047: 
025802,005048: 30,2000                                           SETLOC   VB67A                                 
025803,005049: 30,2000                                           BANK                                           
025804,005050: 30,2002                                           COUNT*   $$/EXTVB                              
025805,005051: 
025806,005052: 30,2002           77615        ADDPOS             DAD                                            
025807,005053: 30,2003           02201                                    WWPOS                                 
025808,005054: 30,2004           02201                           STORE    WWPOS                                 
025809,005055: 30,2005           47573                           VLOAD*   VSQ                                   
025810,005056: 30,2006           02555                                    W          +108D,1                    
025811,005057: 30,2007           77615                           DAD                                            
025812,005058: 30,2010           02203                                    WWVEL                                 
025813,005059: 30,2011           02203                           STORE    WWVEL                                 
025814,005060: 30,2012           47573                           VLOAD*   VSQ                                   
025815,005061: 30,2013           02643                                    W          +162D,1                    
025816,005062: 30,2014           77615                           DAD                                            
025817,005063: 30,2015           02205                                    WWBIAS                                
025818,005064: 30,2016           02205                           STORE    WWBIAS                                
025819,005065: 30,2017           75500                           TIX,1    SQRT                                  
025820,005066: 30,2020           62137                                    NXPOSVEL                              
025821,005067: 30,2021           77661                           SR                                             #  SHIFT FROM INTERNAL SCALING (B+5) TO
025822,005068: 30,2022           20613                                    10D                                   #  NOUN SCALING (B-5)
025823,005069: 30,2023           16205                           STODL    WWBIAS                                
025824,005070: 30,2024           02203                                    WWVEL                                 
025825,005071: 30,2025           77766                           SQRT                                           
025826,005072: 30,2026           16203                           STODL    WWVEL                                 
025827,005073: 30,2027           02201                                    WWPOS                                 
025828,005074: 30,2030           77766                           SQRT                                           
025829,005075: 30,2031           02201                           STORE    WWPOS                                 
025830,005076: 30,2032           52000                           BOV      GOTO                                  
025831,005077: 30,2033           60035                                    +2                                    
025832,005078: 30,2034           60042                                    V67XXX                                
025833,005079: 30,2035           77745                           DLOAD                                          
025834,005080: 30,2036           06530                                    DPPOSMAX                              
025835,005081: 30,2037           02201                           STORE    WWPOS                                 
025836,005082: 30,2040           02203                           STORE    WWVEL                                 
025837,005083: 30,2041           02205                           STORE    WWBIAS                                
025838,005084: 30,2042           45345        V67XXX             DLOAD    DSU                                   
025839,005085: 30,2043           02201                                    WWPOS                                 
025840,005086: 30,2044           20060                                    FT99999                               
025841,005087: 30,2045           71240                           BMN      DLOAD                                 
025842,005088: 30,2046           60051                                    +3                                    
025843,005089: 30,2047           20060                                    FT99999                               
025844,005090: 30,2050           02201                           STORE    WWPOS                                 
025845,005091: 30,2051           66150                           LXA,1    SXA,1                                 
025846,005092: 30,2052           00051                                    S2                                    
025847,005093: 30,2053           00052                                    QPRET                                 

Page 611

025849,005095: 30,2054           77776                           EXIT                                           
025850,005096: 30,2055           04635                           TC       POSTJUMP                              
025851,005097: 30,2056           27425                           CADR     INTWAKE                               
025852,005098: 
025853,005099: 30,2057           01670 17000  FT99999            2DEC     30479      B-19                       
025854,005100: 

Page 612

025856,005102: 25,3607                                           BANK     25                                    
025857,005103: 25,2000                                           SETLOC   RADARUPT                              
025858,005104: 25,2000                                           BANK                                           
025859,005105: 25,3607                                           COUNT*   $$/RRUPT                              
025860,005106: 
025861,005107: 25,3607  E7,1456                                  EBANK=   LOSCOUNT                              
025862,005108: 
025863,005109: 25,3607           34753        R12LITES           CA       ONE                                   
025864,005110: 25,3610           71303                           MASK     IMODES33                              
025865,005111: 25,3611           10000                           CCS      A                                     
025866,005112: 25,3612           14707                           TCF      ISWRETRN                              
025867,005113: 
025868,005114: 25,3613           03630                           TC       HLIGHT                                
025869,005115: 25,3614           03625                           TC       HLIGHT     -3                         
025870,005116: 25,3615           14707                           TCF      ISWRETRN                              
025871,005117: 
025872,005118: 25,3616           34753        RADLITES           CA       BIT1                                  
025873,005119: 25,3617           71303                           MASK     IMODES33                              
025874,005120: 25,3620           10000                           CCS      A                                     
025875,005121: 25,3621           00002                           TC       Q                                     
025876,005122: 
025877,005123: 25,3622           44747                           CS       BIT5                                  
025878,005124: 25,3623           60061                           AD       ITEMP1                                
025879,005125: 25,3624           10000                           CCS      A                                     
025880,005126: 25,3625           44753                           CS       ONE                                   
025881,005127: 25,3626           13664                           TCF      VLIGHT                                
025882,005128: 
025883,005129: 25,3627           14570                           TCF      RRTRKF                                
025884,005130: 
025885,005131: 25,3630           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
025886,005132: 
025887,005133: 25,3631           34747                           CA       HLITE                                 
025888,005134: 25,3632           54001                           TS       L                                     
025889,005135: 
025890,005136: 25,3633           30107                           CA       FLGWRD11                              
025891,005137: 25,3634           74751                           MASK     SCABBIT                               
025892,005138: 25,3635           10000                           CCS      A                                     
025893,005139: 25,3636           13656                           TCF      ONLITES                               
025894,005140: 25,3637           34747                           CA       LRALTBIT                              
025895,005141: 25,3640           70110        BOTHLITS           MASK     RADMODES                              
025896,005142: 25,3641           10000                           CCS      A                                     
025897,005143: 25,3642           13656                           TCF      ONLITES                               
025898,005144: 
025899,005145: 25,3643           30107                           CA       FLGWRD11                              
025900,005146: 25,3644           50065                           INDEX    ITEMP5                                
025901,005147: 25,3645           74753                           MASK     HFLSHBIT                              
025902,005148: 25,3646           10000                           CCS      A                                     
025903,005149: 25,3647           14570                           TCF      RRTRKF                                

Page 613

025905,005151: 25,3650           00006        LITIT              EXTEND                                         
025906,005152: 25,3651           22066                           QXCH     ITEMP6                                
025907,005153: 25,3652           04602                           TC       TRKFLON    +1                         
025908,005154: 
025909,005155: 25,3653           00006                           EXTEND                                         
025910,005156: 25,3654           22066                           QXCH     ITEMP6                                
025911,005157: 25,3655           14570                           TCF      RRTRKF                                
025912,005158: 
025913,005159: 
025914,005160: 25,3656           50065        ONLITES            INDEX    ITEMP5                                
025915,005161: 25,3657           44753                           CS       HFLSHBIT                              
025916,005162: 25,3660           70107                           MASK     FLGWRD11                              
025917,005163: 25,3661           54107                           TS       FLGWRD11                              
025918,005164: 
025919,005165: 25,3662           30001                           CA       L                                     
025920,005166: 25,3663           13650                           TCF      LITIT                                 
025921,005167: 25,3664           54065        VLIGHT             TS       ITEMP5                                
025922,005168: 25,3665           34751                           CA       VLITE                                 
025923,005169: 25,3666           54001                           TS       L                                     
025924,005170: 25,3667           34744                           CA       BIT8                                  
025925,005171: 25,3670           13640                           TCF      BOTHLITS                              
025926,005172: 
025927,005173: 25,3671     4747               HLITE              EQUALS   BIT5                                  
025928,005174: 25,3671     4751               VLITE              EQUALS   BIT3                                  
025929,005175: 

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