Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of Luminary 069. They were scanned at archive.org's Boston facility, and the scanning was sponsored by Onno Hommes. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the Luminary 69 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011
	19:02 NOV. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

022258,000002:                                                                                                  ## Copyright:   Public domain.
022259,000003:                                                                                                  ## Filename:    P20-P25.agc
022260,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
022261,000005:                                                                                                  ##              It is part of the source code for the original release
022262,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
022263,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
022264,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
022265,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
022266,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
022267,000011:                                                                                                  ##              that the code format has been changed to conform to the
022268,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
022269,000013:                                                                                                  ##              original YUL assembler.
022270,000014:                                                                                                  ## Reference:   pp. 504-623
022271,000015:                                                                                                  ## Assembler:   yaYUL
022272,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
022273,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
022274,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
022275,000019:                                                                                                  ##              2016-12-14 MAS  Updated from comment-proofed Luminary 99 version.
022276,000020:                                                                                                  ##              2016-01-16 HG   Transcribed
022277,000021:                                                                                                  ##              2017-01-22 HG   Shift pseudo label +3 to column 2.
022278,000022:                                                                                                  ##                              Add missing operator INHINT
022279,000023:                                                                                                  ##              2017-01-23 HG   Fix operator CCS -> CA
022280,000024:                                                                                                  ##                              Fix value TENDEG .27... -> .027...
022281,000025:                                                                                                  ##                              Fix operand R22LEM42 -> R22LEM
022282,000026:                                                                                                  ##                                          GOXDSPF  -> GOXDSPFR
022283,000027:                                                                                                  ##                                          BIT13    -> BIT3
022284,000028:                                                                                                  ##                              Fix operand modifier WWPOS +6 -> WWPOS +4
022285,000029:                                                                                                  ##                              Fix statement CA FLAGWRD2 -> CS FLAGWRD0
022286,000030:                                                                                                  ##                                            EXTEND      -> CCS A
022287,000031:                                                                                                  ##                                            BZF NOTP20  -> TC  NOTP20
022288,000032:                                                                                                  ##              2017-01-27 RSB  Proofed comment text using octopus/prooferComments
022289,000033:                                                                                                  ##                              and fixed errors found.
022290,000034:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
022291,000035:                                                                                                  ##              2017-03-13 RSB  Comment-text fixes noted in proofing Luminary 116.
022292,000036:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
022293,000037:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
022294,000038: 
022295,000039:                                                                                                  ##

Page 504

022297,000041: 
022298,000042:                                                                                                  #  RENDEZVOUS NAVIGATION PROGRAM 20
022299,000043:                                                                                                  #  PROGRAM DESCRIPTION
022300,000044:                                                                                                  #  MOD NO - 2
022301,000045:                                                                                                  #  BY  P. VOLANTE
022302,000046:                                                                                                  #  FUNCTIONAL DESCRIPTION
022303,000047: 
022304,000048:                                                                                                  #    THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
022305,000049:                                                                                                  #  STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
022306,000050:                                                                                                  #  THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
022307,000051:                                                                                                  #  ON THE BASIS OF THE RR TRACKING DATA.
022308,000052:                                                                                                  #  CALLING SEQUENCE -
022309,000053: 
022310,000054:                                                                                                  #  ASTRONAUT REQUEST THROUGH DSKY V37E20E
022311,000055:                                                                                                  #  SUBROUTINES CALLED
022312,000056:                                                                                                  #    R02BOTH (IMU STATUS CHECK)               FLAGUP
022313,000057:                                                                                                  #    GOFLASH (PINBALL-DISPLAY)                FLAGDOWN
022314,000058:                                                                                                  #    R23LEM  (MANUAL ACQUISITION)             BANKCALL
022315,000059:                                                                                                  #    LS201   (LOS DETERMINATION)              TASKOVER
022316,000060:                                                                                                  #    LS202   (RANGE LIMIT TEST)
022317,000061:                                                                                                  #    R61LEM  (PREFERRED TRACKING ATTITUDE)
022318,000062:                                                                                                  #    R21LEM  (RR DESIGNATE)                   ENDOFJOB
022319,000063:                                                                                                  #    R22LEM  (DATA READ)                      GOPERF1
022320,000064:                                                                                                  #    R31LEM  (RENDEZVOUS PARAMETER DISPLAY)
022321,000065:                                                                                                  #    PRIOLARM (PRIORITY DISPLAY)
022322,000066:                                                                                                  #  NORMAL EXIT MODES-
022323,000067:                                                                                                  #    P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022324,000068:                                                                                                  #  PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
022325,000069:                                                                                                  #  ALARM OR ABORT EXIT MODES-
022326,000070:                                                                                                  #    RANGE GREATER THAN 400 NM DISPLAY
022327,000071:                                                                                                  #  OUTPUT
022328,000072:                                                                                                  #    TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
022329,000073:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022330,000074:                                                                                                  #  FLAGS SET + RESET
022331,000075:                                                                                                  #    SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
022332,000076:                                                                                                  #  DEBRIS
022333,000077:                                                                                                  #    CENTRALS-A,Q,L
022334,000078: 25,2062  30,2000                                  SBANK=   LOWSUPER                              #  FOR LOW 2CADR'S.
022335,000079: 
022336,000080: 33,2045                                           BANK     33                                    
022337,000081: 24,2000                                           SETLOC   P20S                                  
022338,000082: 24,2000                                           BANK                                           
022339,000083: 
022340,000084: 24,2022  E7,1454                                  EBANK=   LOSCOUNT                              
022341,000085: 24,2022                                           COUNT*   $$/P20                                
022342,000086: 24,2022  24,2022               PROG22             =        PROG20                                
022343,000087: 24,2022           05327        PROG20             TC       2PHSCHNG                              
022344,000088: 24,2023           00004                           OCT      4                                     
022345,000089: 24,2024           05022                           OCT      05022                                 
022346,000090: 24,2025           26000                           OCT      26000                                 #  PRIORITY 26
022347,000091: 24,2026           02714                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
022348,000092: 

Page 505

022350,000094: 24,2027           02031                           TC       ORBCHGO                               #  YES
022351,000095: 24,2030           02060                           TC       PROG20A    -2                         #  NO - CONTINUE WITH P20
022352,000096: 24,2031           05504        ORBCHGO            TC       UPFLAG                                #  SET VEHUPFLG - CSM STATE
022353,000097: 24,2032           00026                           ADRES    VEHUPFLG                              #  VECTOR TO BE UPDATED
022354,000098: 24,2033           34753                           CAF      ONE                                   #  SET R2 FOR OPTION CSM WILL NOT
022355,000099: 24,2034           55145                           TS       OPTION2                               #  CHANGE PRESENT ORBIT
022356,000100: 24,2035           32342                           CAF      OCT00012                              
022357,000101: 24,2036           04616                           TC       BANKCALL                              #  DISPLAY ASSUMED CSM ORBIT OPTION
022358,000102: 24,2037           20506                           CADR     GOPERF4                               
022359,000103: 24,2040           06001                           TC       GOTOPOOH                              #  TERMINATE
022360,000104: 24,2041           02043                           TC       ORBCHG1                               #  PROCEED VALUE OF ASSUMED OPTION OK
022361,000105: 24,2042           02035                           TC       -5                                    #  R2 LOADED THRU DSKY
022362,000106: 24,2043           42343        ORBCHG1            CS       P22ONE                                
022363,000107: 24,2044           61145                           AD       OPTION2                               
022364,000108: 24,2045           00006                           EXTEND                                         
022365,000109: 24,2046           12062                           BZF      PROG20A                               
022366,000110: 24,2047           32346                           CAF      V06N33*                               
022367,000111: 24,2050           04616                           TC       BANKCALL                              #  FLASH VERB-NOUN TO REQUEST ESTIMATED
022368,000112: 24,2051           20351                           CADR     GOFLASH                               #  TIME OF LAUNCH
022369,000113: 24,2052           06001                           TC       GOTOPOOH                              #  TERMINATE
022370,000114: 24,2053           02055                           TC       ORBCHG2                               #  PROCEED VALUES OK
022371,000115: 24,2054           02047                           TC       -5                                    #  TIME LOADED THRU DSKY
022372,000116: 24,2055           06036        ORBCHG2            TC       INTPRET                               
022373,000117: 24,2056           77650                           GOTO                                           
022374,000118: 24,2057           64227                                    ORBCHG3                               
022375,000119: 32,2227                                           BANK     32                                    
022376,000120: 32,2000                                           SETLOC   P20S4                                 
022377,000121: 32,2000                                           BANK                                           
022378,000122: 32,2227                                           COUNT*   $$/P20                                
022379,000123: 
022380,000124: 32,2227           77624        ORBCHG3            CALL                                           
022381,000125: 32,2230           27412                                    INTSTALL                              
022382,000126: 32,2231           77745                           DLOAD                                          
022383,000127: 32,2232           03440                                    TIG                                   
022384,000128: 32,2233           03657                           STORE    LNCHTM                                
022385,000129: 32,2234           00041                           STORE    TDEC1                                 #  ESTIMATED LAUNCH TIME
022386,000130: 32,2235           43014                           CLEAR    CLEAR                                 
022387,000131: 32,2236           01674                                    VINTFLAG                              #  LM INTEGRATION
022388,000132: 32,2237           01673                                    INTYPFLG                              #  PRECISION - ENCKE
022389,000133: 32,2240           43014                           CLEAR    CLEAR                                 
022390,000134: 32,2241           01676                                    DIM0FLAG                              #  NO W-MATRIX
022391,000135: 32,2242           01675                                    D6OR9FLG                              
022392,000136: 32,2243           77624                           CALL                                           
022393,000137: 32,2244           27134                                    INTEGRV                               #  PLANETARY INERTIAL ORIENTATION
022394,000138: 32,2245           77624                           CALL                                           
022395,000139: 32,2246           11165                                    GRP2PC                                
022396,000140: 32,2247           77775                           VLOAD                                          
022397,000141: 32,2250           00017                                    RATT1                                 
022398,000142: 32,2251           17627                           STODL    RSUBL                                 #  SAVE LM POSITION
022399,000143: 32,2252           00015                                    TAT                                   
022400,000144: 

Page 506

022402,000146: 32,2253           34041                           STCALL   TDEC1                                 
022403,000147: 32,2254           27412                                    INTSTALL                              
022404,000148: 32,2255           43014                           SET      CLEAR                                 
022405,000149: 32,2256           01474                                    VINTFLAG                              #  CSM INTEGRATION
022406,000150: 32,2257           01673                                    INTYPFLG                              
022407,000151: 32,2260           43014                           CLEAR    BOFF                                  
022408,000152: 32,2261           01676                                    DIM0FLAG                              
022409,000153: 32,2262           02756                                    RENDWFLG                              #  W MATRIX VALID
022410,000154: 32,2263           64267                                    NOWMATX                               #  NO
022411,000155: 32,2264           43014                           SET      SET                                   #  YES - SET FOR W MATRIX
022412,000156: 32,2265           01476                                    DIM0FLAG                              
022413,000157: 32,2266           01475                                    D6OR9FLG                              
022414,000158: 32,2267           77624        NOWMATX            CALL                                           
022415,000159: 32,2270           27134                                    INTEGRV                               #  CSM INTEGRATION
022416,000160: 32,2271           77624                           CALL                                           
022417,000161: 32,2272           11165                                    GRP2PC                                
022418,000162: 32,2273           77775                           VLOAD                                          
022419,000163: 32,2274           00025                                    VATT1                                 
022420,000164: 32,2275           25761                           STOVL    VSUBC                                 #  SAVE CSM VELOCITY
022421,000165: 32,2276           00017                                    RATT1                                 
022422,000166: 32,2277           01102                           STORE    RSUBC                                 #  SAVE CSM POSITION
022423,000167: 32,2300           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
022424,000168: 32,2301           01761                                    VSUBC                                 #  NSUB1=UNIT(R(CM) CROSS V(CM)
022425,000169: 32,2302           24025                           STOVL    20D                                   #  SAVE NSUB1
022426,000170: 32,2303           03627                                    RSUBL                                 #  COMPUTE ESTIMATED ORBITAL
022427,000171: 32,2304           53435                           VXV      UNIT                                  #  PLANE CHANGE
022428,000172: 32,2305           00025                                    20D                                   #  UCSM = UNIT(R(LM) CROSS NSUB1)
022429,000173: 32,2306           27635                           STOVL    UCSM                                  
022430,000174: 32,2307           01102                                    RSUBC                                 #  COMPUTE ANGLE BETWEEN UCSM
022431,000175: 32,2310           50256                           UNIT     DOT                                   #  AND RSUBC
022432,000176: 32,2311           03635                                    UCSM                                  #  COS A = UCSM DOT UNIT (R(CM))
022433,000177: 32,2312           77752                           SL1                                            
022434,000178: 32,2313           02732                           STORE    CSTH                                  #  SAVE DOE TIME-THETA SUBROUTINE
022435,000179: 32,2314           44316                           DSQ      BDSU                                  #  COMPUTE SINE A
022436,000180: 32,2315           10345                                    ONEB-2                                
022437,000181: 32,2316           77766                           SQRT                                           
022438,000182: 32,2317           26730                           STOVL    SNTH                                  #  SAVE FOR TIME-THETA SUBROUTINE
022439,000183: 32,2320           01102                                    RSUBC                                 #  POSITION OF CSM AT EST. LAUNCH
022440,000184: 32,2321           26655                           STOVL    RVEC                                  #  TIME FOR TIME-THETA   B-27
022441,000185: 32,2322           01761                                    VSUBC                                 #  VELOCITY OF CSM AT EST. LAUNCH
022442,000186: 32,2323           77676                           VCOMP                                          
022443,000187: 32,2324           02744                           STORE    VVEC                                  #  TIME FOR TIME THETA   B-5
022444,000188: 32,2325           45014                           CLEAR    CALL                                  
022445,000189: 32,2326           03666                                    RVSW                                  
022446,000190: 32,2327           24745                                    TIMETHET                              
022447,000191: 32,2330           77676                           VCOMP                                          
022448,000192: 32,2331           03643                           STORE    NEWVEL                                #  TERMINAL VELOCITY OF CSM
022449,000193: 32,2332           77745                           DLOAD                                          
022450,000194: 32,2333           00037                                    T                                     
022451,000195: 32,2334           27661                           STOVL    TRANSTM                               #  TRANSFER TIME
022452,000196: 

Page 507

022454,000198: 32,2335           03643                                    NEWVEL                                
022455,000199: 32,2336           77646                           ABVAL                                          
022456,000200: 32,2337           24025                           STOVL    20D                                   
022457,000201: 32,2340           00001                                    0D                                    
022458,000202: 32,2341           03651                           STORE    NEWPOS                                #  TERMINAL POSITION OF CSM
022459,000203: 32,2342           53435                           VXV      UNIT                                  #  COMPUTE NORMAL TO CSM ORBITAL PLANE
022460,000204: 32,2343           03627                                    RSUBL                                 #  NSUB2 = UNIT(NEWPOS CROSS R(LM))
022461,000205: 32,2344           53435                           VXV      UNIT                                  #  ROTATE TERMINAL VEL INTO DESIRED
022462,000206: 32,2345           03651                                    NEWPOS                                #  ORBITAL PLANE
022463,000207: 32,2346           76561                           VXSC     VSL1                                  #  VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
022464,000208: 32,2347           00025                                    20D                                   
022465,000209: 32,2350           37663                           STCALL   NCSMVEL                               #  NEW CSM VELOCITY
022466,000210: 32,2351           11165                                    GRP2PC                                
022467,000211: 32,2352           77624                           CALL                                           
022468,000212: 32,2353           27412                                    INTSTALL                              
022469,000213: 32,2354           44345                           DLOAD    BDSU                                  
022470,000214: 32,2355           03661                                    TRANSTM                               #  LAUNCH TIME - TRANSFER TIME
022471,000215: 32,2356           03657                                    LNCHTM                                
022472,000216: 32,2357           25517                           STOVL    TET                                   
022473,000217: 32,2360           03651                                    NEWPOS                                
022474,000218: 32,2361           01535                           STORE    RCV                                   
022475,000219: 32,2362           25503                           STOVL    RRECT                                 
022476,000220: 32,2363           03663                                    NCSMVEL                               
022477,000221: 32,2364           35511                           STCALL   VRECT                                 
022478,000222: 32,2365           23361                                    MINIRECT                              
022479,000223: 32,2366           45174                           AXT,2    CALL                                  
022480,000224: 32,2367           00002                                    2                                     
022481,000225: 32,2370           26661                                    ATOPCSM                               
022482,000226: 32,2371           77624                           CALL                                           
022483,000227: 32,2372           27425                                    INTWAKE0                              
022484,000228: 32,2373           77776                           EXIT                                           
022485,000229: 32,2374           04616                           TC       BANKCALL                              
022486,000230: 32,2375           50062                           CADR     PROG20A                               
022487,000231: 24,2060                                           BANK     24                                    
022488,000232: 24,2000                                           SETLOC   P20S                                  
022489,000233: 24,2000                                           BANK                                           
022490,000234: 24,2060                                           COUNT*   $$/P20                                
022491,000235: 
022492,000236: 24,2060           05516                           TC       DOWNFLAG                              #  RESET VEHUPFLG- LM STATE VECTOR
022493,000237: 24,2061           00026                           ADRES    VEHUPFLG                              #  TO BE UPDATED
022494,000238: 24,2062           04616        PROG20A            TC       BANKCALL                              
022495,000239: 24,2063           11175                           CADR     R02BOTH                               
022496,000240: 24,2064           05504                           TC       UPFLAG                                
022497,000241: 24,2065           00027                           ADRES    UPDATFLG                              #  SET UPDATE FLAG
022498,000242: 24,2066           05504                           TC       UPFLAG                                
022499,000243: 24,2067           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
022500,000244: 24,2070           05504                           TC       UPFLAG                                
022501,000245: 24,2071           00010                           ADRES    RNDVZFLG                              #  SET RENDEZVOUS FLAG
022502,000246: 24,2072           05516                           TC       DOWNFLAG                              
022503,000247: 24,2073           00037                           ADRES    SRCHOPTN                              #  INSURE SEARCH OPTION OFF
022504,000248: 

Page 508

022506,000250: 24,2074           05516                           TC       DOWNFLAG                              #  ALSO MANUAL ACQUISITION FLAG RESET
022507,000251: 24,2075           00040                           ADRES    ACMODFLG                              
022508,000252: 24,2076           05516                           TC       DOWNFLAG                              #  TURN OFF R04FLAG TO ENSURE GETTING
022509,000253: 24,2077           00063                           ADRES    R04FLAG                               #  ALARM 521 IF CANT READ RADAR
022510,000254: 24,2100           05516                           TC       DOWNFLAG                              #  ENSURE R25 GIMBAL MONITOR IS ENABLED
022511,000255: 24,2101           00126                           ADRES    NORRMON                               #  (RESET NORRMON FLAG)
022512,000256: 24,2102           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG
022513,000257: 24,2103           00041                           ADRES    LOSCMFLG                              
022514,000258: 24,2104           05353        P20LEM1            TC       PHASCHNG                              
022515,000259: 24,2105           04022                           OCT      04022                                 
022516,000260: 24,2106           34755                           CAF      ZERO                                  #  ZERO MARK COUNTER
022517,000261: 24,2107           55460                           TS       MARKCTR                               
022518,000262: 24,2110           06036                           TC       INTPRET                               #  LOS DETERMINATION ROUTINE
022519,000263: 24,2111           77634                           RTB                                            
022520,000264: 24,2112           21462                                    LOADTIME                              
022521,000265: 24,2113           34041                           STCALL   TDEC1                                 
022522,000266: 24,2114           51151                                    LPS20.1                               
022523,000267: 24,2115           77624                           CALL                                           
022524,000268: 24,2116           53565                                    LPS20.2                               #  TEST RANGE R/UTINE
022525,000269: 24,2117           77776                           EXIT                                           
022526,000270: 24,2120           50154                           INDEX    MPAC                                  
022527,000271: 24,2121           02122                           TC       +1                                    
022528,000272: 24,2122           02132                           TC       P20LEMA                               #  NORMAL RETURN WITHIN 400 N M
022529,000273: 24,2123           32336        526ALARM           CAF      ALRM526                               #  ERROR EXIT - RANGE > 400 N. MI.
022530,000274: 24,2124           04616                           TC       BANKCALL                              
022531,000275: 24,2125           21451                           CADR     PRIOLARM                              
022532,000276: 24,2126           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022533,000277: 24,2127           02123                           TC       -4                                    #  PROC (ILLEGAL
022534,000278: 24,2130           02104                           TC       P20LEM1                               #  ENTER RECYCLE
022535,000279: 24,2131           05155                           TC       ENDOFJOB                              
022536,000280: 
022537,000281: 
022538,000282: 24,2132           05353        P20LEMA            TC       PHASCHNG                              
022539,000283: 24,2133           04022                           OCT      04022                                 
022540,000284: 24,2134           02714                           TC       LUNSFCHK                              #  CHECK LUNAR SURFACE FLAG (P22 FLAG)
022541,000285: 24,2135           02140                           TC       P20LEMB                               
022542,000286: 24,2136           04616                           TC       BANKCALL                              
022543,000287: 24,2137           46100                           CADR     R61LEM                                #  PREFERRED TRACKING ATTITUDE ROUTINE
022544,000288: 24,2140           05353        P20LEMB            TC       PHASCHNG                              
022545,000289: 24,2141           05022                           OCT      05022                                 #  RESTART AT PRIORITY 10 TO ALLOW V37
022546,000290: 24,2142           10000                           OCT      10000                                 #  REQUESTED PROGRAM TO RUN FIRST
022547,000291: 24,2143           37713                           CAF      PRIO26                                #  RESTORE PRIORITY 26
022548,000292: 24,2144           05146                           TC       PRIOCHNG                              
022549,000293: 24,2145           30075                           CA       FLAGWRD1                              #  IS THE TRACK FLAG SET
022550,000294: 24,2146           74747                           MASK     TRACKBIT                              
022551,000295: 24,2147           00006                           EXTEND                                         
022552,000296: 24,2150           12262                           BZF      P20LEMWT                              #   BRANCH - NO - WAIT FOR IT TO BE SET
022553,000297: 24,2151           34752        P20LEMB7           CAF      BIT2                                  #  IS RR AUTO MODE DISCRETE PRESENT
022554,000298: 24,2152           00006                           EXTEND                                         
022555,000299: 24,2153           02033                           RAND     CHAN33                                
022556,000300: 

Page 509

022558,000302: 24,2154           00006                           EXTEND                                         
022559,000303: 24,2155           12211                           BZF      P20LEMB3                              #  YES - DO AUTOMATIC ACQUISITION (R21)
022560,000304: 
022561,000305: 24,2156           46007        P20LEMB5           CS       OCT24                                 #  RADAR NOT IN AUTO CHECK IF
022562,000306: 24,2157           61011                           AD       MODREG                                #  MAJOR MODE IS 20
022563,000307: 24,2160           00006                           EXTEND                                         
022564,000308: 24,2161           12174                           BZF      P20LEMB6                              #  BRANCH - YES-OK TO DO PLEASE PERFORM
022565,000309: 
022566,000310: 
022567,000311: 24,2162           67745                           AD       NEG2                                  #  ALSO CHECK FOR P22
022568,000312: 24,2163           00006                           EXTEND                                         
022569,000313: 24,2164           12174                           BZF      P20LEMB6                              #  BRANCH - YES OK TO DO PLEASE PERFORM
022570,000314: 24,2165           32340                           CAF      ALRM514                               #  TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022571,000315: 24,2166           04616                           TC       BANKCALL                              #  RADAR GOES OUT OF AUTO MODE WHILE IN USE
022572,000316: 24,2167           21451                           CADR     PRIOLARM                              
022573,000317: 24,2170           06022                           TC       GOTOV56                               #  TERMINATE EXITS VIA V56
022574,000318: 24,2171           02140                           TC       P20LEMB                               #  PROCEED AND ENTER BOTH GO BACK
022575,000319: 24,2172           02140                           TC       P20LEMB                               #  TO CHECK AUTO MODE AGAIN
022576,000320: 24,2173           05155                           TC       ENDOFJOB                              
022577,000321: 24,2174           32337        P20LEMB6           CAF      OCT201                                #  REQUEST RR AUTO MODE SELECTION
022578,000322: 24,2175           04616                           TC       BANKCALL                              
022579,000323: 24,2176           20476                           CADR     GOPERF1                               
022580,000324: 24,2177           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022581,000325: 24,2200           02140                           TC       P20LEMB                               #  PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022582,000326: 24,2201           02714                           TC       LUNSFCHK                              #  ENTER INDICATES MANUAL ACQUISITION (R23)
022583,000327: 24,2202           02207                           TC       P20LEMB2                              #  YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022584,000328: 24,2203           03027                           TC       R23LEM                                #  NO - DO MANUAL ACQUISITION
022585,000329: 
022586,000330: 
022587,000331: 24,2204           05504        P20LEMB1           TC       UPFLAG                                #  RETURN FROM R23 - LOCKON ACHIEVED
022588,000332: 24,2205           00040                           ADRES    ACMODFLG                              #  SET MANUAL FLAG AND GO BACK TO CHECK
022589,000333: 24,2206           02140                           TC       P20LEMB                               #  RR AUTO MODE
022590,000334: 
022591,000335: 
022592,000336: 24,2207           04364        P20LEMB2           TC       FALTON                                #  TURNS ON OPERATOR ERROR LIGHT ON DSKY
022593,000337: 24,2210           02140                           TC       P20LEMB                               #  AND GOES BACK TO CHECK AUTO MODE
022594,000338: 
022595,000339: 
022596,000340: 24,2211           40110        P20LEMB3           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
022597,000341: 24,2212           74737                           MASK     BIT13                                 #  (BIT 13 RADMODES EQUAL ONE)
022598,000342: 24,2213           00006                           EXTEND                                         
022599,000343: 24,2214           12226                           BZF      P20LEMB4                              #  BRANCH - YES - WAIT
022600,000344: 24,2215           34355                           CAF      BIT13-14                              #  IS SEARCH OR MANUAL ACQUISITION FLAG SET
022601,000345: 24,2216           70076                           MASK     FLAGWRD2                              
022602,000346: 24,2217           00006                           EXTEND                                         
022603,000347: 24,2220           12232                           BZF      P20LEMC3                              #  ZERO MEANS AUTOMATIC RR ACQUISTION
022604,000348: 24,2221           05516                           TC       DOWNFLAG                              #  RESET TO AUTO MODE
022605,000349: 24,2222           00037                           ADRES    SRCHOPTN                              
022606,000350: 24,2223           05516                           TC       DOWNFLAG                              
022607,000351: 

Page 510

022609,000353: 24,2224           00040                           ADRES    ACMODFLG                              
022610,000354: 24,2225           02262                           TC       P20LEMWT                              #  WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022611,000355: 
022612,000356: 
022613,000357: 24,2226           32335        P20LEMB4           CAF      250DEC                                
022614,000358: 24,2227           04616                           TC       BANKCALL                              #  WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022615,000359: 24,2230           01735                           CADR     DELAYJOB                              #  ZEROED-THEN GO BACK AND CHECK AGAIN
022616,000360: 24,2231           02211                           TC       P20LEMB3                              
022617,000361: 
022618,000362: 
022619,000363: 24,2232           06036        P20LEMC3           TC       INTPRET                               
022620,000364: 24,2233           77624                           CALL                                           #  DO A PERMANENT MEMORY PRECISION
022621,000365: 24,2234           50347                                    UPPSV                                 #  INTEGRATION TO ESTABLISH AN UP-TO-DATE
022622,000366: 24,2235           77214                           BOFF     VLOAD                                 #  BASE FOR CONICS (KEPLER) IN R21
022623,000367: 24,2236           04347                                    SURFFLAG                              
022624,000368: 24,2237           50246                                    P20LEMC4                              
022625,000369: 24,2240           01661                                    RCVLEM                                #  WHEN ON LUNAR SURFACE
022626,000370: 24,2241           77742                           VSR2                                           #  SCALE B-29
022627,000371: 24,2242           26356                           STOVL    LMPOS                                 
022628,000372: 24,2243           01667                                    VCVLEM                                
022629,000373: 24,2244           77742                           VSR2                                           
022630,000374: 24,2245           02364                           STORE    LMVEL                                 
022631,000375: 24,2246           77776        P20LEMC4           EXIT                                           
022632,000376: 24,2247           05353        P20LEMC            TC       PHASCHNG                              
022633,000377: 24,2250           04022                           OCT      04022                                 
022634,000378: 24,2251           30074                           CAE      FLAGWRD0                              #  IS THE RENDEZVOUS FLAG SET
022635,000379: 24,2252           74745                           MASK     RNDVZBIT                              
022636,000380: 24,2253           00006                           EXTEND                                         
022637,000381: 24,2254           15155                           BZF      ENDOFJOB                              #  NO - EXIT P20
022638,000382: 24,2255           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET  (BIT 5 FLAGWORD 1)
022639,000383: 24,2256           74747                           MASK     TRACKBIT                              
022640,000384: 24,2257           00006                           EXTEND                                         
022641,000385: 24,2260           12315                           BZF      P20LEMD                               #  BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022642,000386: 24,2261           02721        P20LEMF            TC       R21LEM                                
022643,000387: 
022644,000388: 
022645,000389: 24,2262           32335        P20LEMWT           CAF      250DEC                                
022646,000390: 24,2263           00004                           INHINT                                         
022647,000391: 24,2264           05173                           TC       TWIDDLE                               #  USE INSTEAD OF WAITLIST SINCE SAME BANK
022648,000392: 24,2265           02275                           ADRES    P20LEMC1                              #  WAIT 2.5 SECONDS
022649,000393: 24,2266           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022650,000394: 24,2267           74747                           MASK     TRACKBIT                              
022651,000395: 24,2270           00006                           EXTEND                                         
022652,000396: 24,2271           15155                           BZF      ENDOFJOB                              #  NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022653,000397: 24,2272           05353        P20LMWT1           TC       PHASCHNG                              
022654,000398: 24,2273           40072                           OCT      40072                                 
022655,000399: 24,2274           05155                           TC       ENDOFJOB                              
022656,000400: 
022657,000401: 
022658,000402: 24,2275           30074        P20LEMC1           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
022659,000403: 

Page 511

022661,000405: 24,2276           74745                           MASK     RNDVZBIT                              
022662,000406: 24,2277           00006                           EXTEND                                         
022663,000407: 24,2300           15261                           BZF      TASKOVER                              #  NO - EXIT P20/R22
022664,000408: 24,2301           30075                           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022665,000409: 24,2302           74747                           MASK     TRACKBIT                              
022666,000410: 24,2303           00006                           EXTEND                                         
022667,000411: 24,2304           12312                           BZF      P20LEMC2                              #  NO-DONT SCHEDULE R22 JOB
022668,000412: 24,2305           37713                           CAF      PRIO26                                #  YES-SCHEDULE R22 JOB (RR DATA READ)
022669,000413: 24,2306           05105                           TC       FINDVAC                               
022670,000414: 24,2307  E7,1454                                  EBANK=   LOSCOUNT                              
022671,000415: 24,2307           02477 50067                     2CADR    R22LEM                                
022672,000416: 24,2311           05261                           TC       TASKOVER                              
022673,000417: 
022674,000418: 
022675,000419: 24,2312           05221        P20LEMC2           TC       FIXDELAY                              #  TRACK FLAG NOT SET ,WAIT 15 SECONDS
022676,000420: 24,2313           02734                           DEC      1500       B-14                       #  AND CHECK AGAIN
022677,000421: 
022678,000422: 24,2314           02275                           TC       P20LEMC1                              
022679,000423: 
022680,000424: 24,2315           32712        P20LEMD            CAF      1500DEC                               
022681,000425: 24,2316           05173                           TC       TWIDDLE                               #  WAITLIST FOR 15 SECONDS
022682,000426: 24,2317           02321                           ADRES    P20LEMD1                              
022683,000427: 24,2320           05155                           TC       ENDOFJOB                              
022684,000428: 
022685,000429: 
022686,000430: 24,2321           30075        P20LEMD1           CAE      FLAGWRD1                              #  IS TRACK FLAG SET
022687,000431: 24,2322           74747                           MASK     TRACKBIT                              
022688,000432: 24,2323           10000                           CCS      A                                     
022689,000433: 24,2324           12330                           TCF      P20LEMD2                              #  YES-SCHEDULE DESIGNATE JOB
022690,000434: 24,2325           05221                           TC       FIXDELAY                              #  NO-WAIT 15 SECONDS
022691,000435: 24,2326           02734                           DEC      1500       B-14                       
022692,000436: 24,2327           02321                           TC       P20LEMD1                              
022693,000437: 
022694,000438: 
022695,000439: 24,2330           37713        P20LEMD2           CAF      PRIO26                                #  SCHEDULE JOB TO DO R21
022696,000440: 24,2331           05105                           TC       FINDVAC                               
022697,000441: 24,2332  E7,1454                                  EBANK=   LOSCOUNT                              
022698,000442: 24,2332           02232 50067                     2CADR    P20LEMC3                              #  START AT PERM. MEMORY INTEGRATION
022699,000443: 24,2334           05261                           TC       TASKOVER                              
022700,000444: 
022701,000445: 
022702,000446: 24,2335           00372        250DEC             DEC      250        B-14                       
022703,000447: 24,2336           00526        ALRM526            OCT      00526                                 
022704,000448: 24,2337           00201        OCT201             OCT      00201                                 
022705,000449: 24,2340           00514        ALRM514            OCT      514                                   
022706,000450: 24,2341           00074        MAXTRIES           DEC      60         B-14                       
022707,000451: 24,2342           00012        OCT00012           OCT      00012                                 
022708,000452: 24,2343           00001        P22ONE             OCT      00001                                 
022709,000453: 

Page 512

022711,000455: 24,2344           10000 00000  ONEB-2             2DEC     1.0        B-2                        
022712,000456: 24,2346           01441        V06N33*            VN       0633                                  
022713,000457: 24,2347           45020        UPPSV              STQ      CALL                                  #  UPDATES PERMANENT STATE VECTORS
022714,000458: 24,2350           01757                                    LS21X                                 #   TO PRESENT TIME
022715,000459: 24,2351           27412                                    INTSTALL                              
022716,000460: 24,2352           77624                           CALL                                           
022717,000461: 24,2353           26644                                    SETIFLGS                              
022718,000462: 24,2354           43014                           BOF      SET                                   #  IF W-MATRIX INVALID,DONT INTEGRATE IT
022719,000463: 24,2355           02756                                    RENDWFLG                              
022720,000464: 24,2356           50367                                    UPPSV1                                
022721,000465: 24,2357           01476                                    DIM0FLAG                              #  SET DIMOFLAG TO INTEGRATE W-MATRIX
022722,000466: 24,2360           43014                           BON      SET                                   
022723,000467: 24,2361           04307                                    SURFFLAG                              #  IF ON LUNAR SURFACE W IS 6X6
022724,000468: 24,2362           50364                                    UPPSV5                                
022725,000469: 24,2363           01475                                    D6OR9FLG                              #  OTHERWISE 9X9
022726,000470: 24,2364           77614        UPPSV5             BOF                                            
022727,000471: 24,2365           00747                                    VEHUPFLG                              
022728,000472: 24,2366           50411                                    UPPSV3                                
022729,000473: 24,2367           47014        UPPSV1             SET      RTB                                   #  CSM STATE BEING CORRECTED
022730,000474: 24,2370           01474                                    VINTFLAG                              
022731,000475: 24,2371           21462                                    LOADTIME                              
022732,000476: 24,2372           34041                           STCALL   TDEC1                                 #  INTEGRATE CSM STATE WITH W-MATRIX
022733,000477: 24,2373           27134                                    INTEGRV                               
022734,000478: 24,2374           77624                           CALL                                           #  GROUP 2 PHASE CHANGE
022735,000479: 24,2375           11165                                    GRP2PC                                #  TO PROTECT INTEGRATION
022736,000480: 24,2376           77624                           CALL                                           
022737,000481: 24,2377           27412                                    INTSTALL                              
022738,000482: 24,2400           43145                           DLOAD    CLEAR                                 #  GET TETCSM TO STORE IN TDEC FOR LM INT.
022739,000483: 24,2401           01571                                    TETCSM                                
022740,000484: 24,2402           01674                                    VINTFLAG                              
022741,000485: 24,2403           77624        UPPSV4             CALL                                           #  INTEGRATE OTHER VEHICLE
022742,000486: 24,2404           26644                                    SETIFLGS                              #   WITHOUT W-MATRIX
022743,000487: 24,2405           34041                           STCALL   TDEC1                                 
022744,000488: 24,2406           27134                                    INTEGRV                               
022745,000489: 24,2407           77650                           GOTO                                           
022746,000490: 24,2410           01757                                    LS21X                                 
022747,000491: 
022748,000492: 
022749,000493: 24,2411           47014        UPPSV3             CLEAR    RTB                                   
022750,000494: 24,2412           01674                                    VINTFLAG                              
022751,000495: 24,2413           21462                                    LOADTIME                              
022752,000496: 24,2414           34041                           STCALL   TDEC1                                 #  INTEGRATE LM STATE WITH W-MATRIX
022753,000497: 24,2415           27134                                    INTEGRV                               
022754,000498: 24,2416           77624                           CALL                                           
022755,000499: 24,2417           11165                                    GRP2PC                                
022756,000500: 24,2420           77624                           CALL                                           
022757,000501: 24,2421           27412                                    INTSTALL                              
022758,000502: 24,2422           71214                           SET      DLOAD                                 
022759,000503: 24,2423           01474                                    VINTFLAG                              
022760,000504: 

Page 513

022762,000506: 24,2424           01643                                    TETLEM                                #  GET TETLEM TO STORE IN TDEC FOR CSM INT.
022763,000507: 24,2425           77650                           GOTO                                           
022764,000508: 24,2426           50403                                    UPPSV4                                
022765,000509: 
022766,000510: 
022767,000511: 24,2427  E7,1454                                  EBANK=   LOSCOUNT                              
022768,000512: 24,2427                                           COUNT*   $$/P22                                
022769,000513: 

Page 514

022771,000515:                                                                                                  #  PROGRAM DESCRIPTION
022772,000516:                                                                                                  #  PREFERRED TRACKING ATTITUDE PROGRAM P25
022773,000517:                                                                                                  #  MOD NO - 3
022774,000518:                                                                                                  #  BY  P. VOLANTE
022775,000519:                                                                                                  #  FUNCTIONAL DESCRIPTION
022776,000520: 
022777,000521:                                                                                                  #    THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022778,000522:                                                                                                  #  ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022779,000523:                                                                                                  #  CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022780,000524:                                                                                                  #  CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022781,000525:                                                                                                  #  CALLING SEQUENCE -
022782,000526:                                                                                                  #    ASTRONAUT REQUEST THROUGH DSKY V37E25E
022783,000527:                                                                                                  #  SUBROUTINES CALLED -
022784,000528:                                                                                                  #    BANKCALL                      FLAGUP
022785,000529:                                                                                                  #    R02BOTH  (IMU STATUS CHECK)   ENDOFJOB
022786,000530:                                                                                                  #    R61LEM   (PREF TRK ATT ROUT)  WAITLIST
022787,000531:                                                                                                  #    TASKOVER                      FINDVAC
022788,000532:                                                                                                  #  NORMAL EXIT MODES  -
022789,000533:                                                                                                  #    P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022790,000534:                                                                                                  #  PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022791,000535:                                                                                                  #  ALARM OR ABORT EXIT MODES -
022792,000536:                                                                                                  #    NONE
022793,000537:                                                                                                  #  OUTPUT
022794,000538:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022795,000539:                                                                                                  #  FLAGS SET + RESET
022796,000540:                                                                                                  #    TRACKFLG,P25FLAG
022797,000541:                                                                                                  #  DEBRIS
022798,000542:                                                                                                  #    NONE
022799,000543: 24,2427  E7,1454                                  EBANK=   LOSCOUNT                              
022800,000544: 24,2427                                           COUNT*   $$/P25                                
022801,000545: 24,2427           05327        PROG25             TC       2PHSCHNG                              
022802,000546: 24,2430           00004                           OCT      4                                     #  MAKE GROUP 4 INACTIVE (VERB 37)
022803,000547: 24,2431           05022                           OCT      05022                                 
022804,000548: 24,2432           26000                           OCT      26000                                 #  PRIORITY 26
022805,000549: 
022806,000550: 24,2433           04616                           TC       BANKCALL                              
022807,000551: 24,2434           11175                           CADR     R02BOTH                               #  IMU STATUS CHECK
022808,000552: 24,2435           05504                           TC       UPFLAG                                
022809,000553: 24,2436           00031                           ADRES    TRACKFLG                              #  SET TRACK FLAG
022810,000554: 24,2437           05504                           TC       UPFLAG                                
022811,000555: 24,2440           00006                           ADRES    P25FLAG                               #  SET P25FLAG
022812,000556: 24,2441           05353        P25LEM1            TC       PHASCHNG                              
022813,000557: 24,2442           04022                           OCT      04022                                 
022814,000558: 24,2443           34743                           CAF      P25FLBIT                              
022815,000559: 24,2444           70074                           MASK     STATE                                 #  IS P25FLAG SET
022816,000560: 24,2445           00006                           EXTEND                                         
022817,000561: 24,2446           15155                           BZF      ENDOFJOB                              
022818,000562: 24,2447           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
022819,000563: 24,2450           70075                           MASK     STATE      +1                         
022820,000564: 24,2451           00006                           EXTEND                                         
022821,000565: 

Page 515

022823,000567: 24,2452           12462                           BZF      P25LMWT1                              #  NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022824,000568: 24,2453           34757                           CAF      SEVEN                                 #  CALL R65 - FINE PREFERRED
022825,000569: 24,2454           55743                           TS       R65CNTR                               
022826,000570: 24,2455           04616                           TC       BANKCALL                              #  TRACKING ATTITUDE ROUTINE
022827,000571: 24,2456           46105                           CADR     R65LEM                                
022828,000572: 24,2457           02441                           TC       P25LEM1                               #  THEN GO CHECK FLAGS
022829,000573: 24,2460           05353        P25LEMWT           TC       PHASCHNG                              
022830,000574: 24,2461           00112                           OCT      00112                                 
022831,000575: 24,2462           32474        P25LMWT1           CAF      60SCNDS                               
022832,000576: 24,2463           00004                           INHINT                                         
022833,000577: 24,2464           05173                           TC       TWIDDLE                               #  WAIT ONE MINUTE THEN CHECK AGAIN
022834,000578: 24,2465           02467                           ADRES    P25LEM2                               
022835,000579: 24,2466           05155                           TC       ENDOFJOB                              
022836,000580: 24,2467           35024        P25LEM2            CAF      PRIO14                                
022837,000581: 24,2470           05105                           TC       FINDVAC                               
022838,000582: 24,2471  E7,1454                                  EBANK=   LOSCOUNT                              
022839,000583: 24,2471           02441 50067                     2CADR    P25LEM1                               
022840,000584: 24,2473           05261                           TC       TASKOVER                              
022841,000585: 24,2474           13560        60SCNDS            DEC      6000       B-14                       
022842,000586: 24,2475           77776        P25OK              EXIT                                           
022843,000587: 24,2476           02460                           TC       P25LEMWT                              
022844,000588: 

Page 516

022846,000590:                                                                                                  #  DATA READ ROUTINE 22 (LEM)
022847,000591:                                                                                                  #  PROGRAM DESCRIPTION
022848,000592:                                                                                                  #  MOD NO - 2
022849,000593:                                                                                                  #  BY P VOLANTE
022850,000594:                                                                                                  #  FUNCTIONAL DESCRIPTION
022851,000595: 
022852,000596:                                                                                                  #    TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022853,000597:                                                                                                  #  LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022854,000598:                                                                                                  #  CALLING SEQUENCE -
022855,000599:                                                                                                  #           TC     BANKCALL
022856,000600:                                                                                                  #           CADR   R22LEM
022857,000601:                                                                                                  #  SUBROUTINES CALLED -
022858,000602:                                                                                                  #    LSR22.1           GOFLASH        WAITLIST
022859,000603:                                                                                                  #    LSR22.2           PRIOLARM       BANKCALL
022860,000604:                                                                                                  #    LSR22.3           R61LEM
022861,000605:                                                                                                  #  NORMAL EXIT MODES-
022862,000606:                                                                                                  #    R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
022863,000607:                                                                                                  #  UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022864,000608:                                                                                                  #  R22 WILL TERMINATE SELF.
022865,000609:                                                                                                  #  ALARM OR ABORT EXIT MODES-
022866,000610:                                                                                                  #    PRIORITY ALARM
022867,000611:                                                                                                  #  PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022868,000612:                                                                                                  #  OUTPUT
022869,000613:                                                                                                  #    SEE OUTPUT FROM LSR22.3
022870,000614:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
022871,000615:                                                                                                  #    SEE LSR22.1,LSR22.2,LSR22.3
022872,000616:                                                                                                  #  FLAGS SET + RESET
022873,000617:                                                                                                  #    NOANGFLG
022874,000618:                                                                                                  #  DEBRIS
022875,000619:                                                                                                  #    SEE LSR22.1,LSR22.2,LSR22.3
022876,000620: 24,2477  E7,1735                                  EBANK=   LRS22.1X                              
022877,000621: 24,2477                                           COUNT*   $$/R22                                
022878,000622: 24,2477           05353        R22LEM             TC       PHASCHNG                              
022879,000623: 24,2500           04022                           OCT      04022                                 
022880,000624: 24,2501           34745                           CAF      RNDVZBIT                              #  IS RENDESVOUS FLAG SET?
022881,000625: 24,2502           70074                           MASK     STATE                                 
022882,000626: 24,2503           00006                           EXTEND                                         
022883,000627: 24,2504           15155                           BZF      ENDOFJOB                              #  NO-EXIT R22 AND P20
022884,000628: 24,2505           34747                           CAF      TRACKBIT                              #  IS TRACKFLAG SET?
022885,000629: 24,2506           70075                           MASK     STATE      +1                         
022886,000630: 24,2507           00006                           EXTEND                                         
022887,000631: 24,2510           12664                           BZF      R22WAIT                               #  NO WAIT
022888,000632: 24,2511           34736        R22LEM12           CAF      BIT14                                 #  IS RR AUTO TRACK ENABLE DISCRETE STILL
022889,000633: 24,2512           00006                           EXTEND                                         #  ON (A MONITOR REPOSITION BY R25 CLEARSIT
022890,000634: 24,2513           02012                           RAND     CHAN12                                
022891,000635: 24,2514           00006                           EXTEND                                         
022892,000636: 24,2515           12132                           BZF      P20LEMA                               #  NO - RETURN TO P20
022893,000637: 24,2516           34752                           CAF      BIT2                                  #  YES
022894,000638: 24,2517           00006                           EXTEND                                         #  IS RR AUTO MODE DISCRETE PRESENT
022895,000639: 24,2520           02033                           RAND     CHAN33                                
022896,000640: 

Page 517

022898,000642: 24,2521           00006                           EXTEND                                         
022899,000643: 24,2522           12524                           BZF      +2                                    #  YES CONTINUE
022900,000644: 24,2523           02156                           TC       P20LEMB5                              #  NO - SET IT
022901,000645: 24,2524           40110                           CS       RADMODES                              #  ARE RR CDUS BEING ZEROED
022902,000646: 24,2525           74737                           MASK     BIT13                                 #  (BIT 13 RADMODES EQUAL ONE)
022903,000647: 24,2526           00006                           EXTEND                                         
022904,000648: 24,2527           12655                           BZF      R22LEM42                              #  CDUS BEING ZEROED
022905,000649: 24,2530           05353                           TC       PHASCHNG                              #  IF A RESTART OCCURS,AN EXTRA RADAR
022906,000650: 24,2531           00152                           OCT      00152                                 #  READING IS TAKEN,SO BAD DATA ISN'T USED
022907,000651: 24,2532           04616                           TC       BANKCALL                              #  YES READ DATA + CALCULATE LOS
022908,000652: 24,2533           64376                           CADR     LRS22.1                               #  DATA READ SUBROUTINE
022909,000653: 24,2534           50154                           INDEX    MPAC                                  
022910,000654: 24,2535           02536                           TC       +1                                    
022911,000655: 24,2536           02557                           TC       R22LEM2                               #  NORMAL RETURN (GOOD DATA)
022912,000656: 24,2537           02247                           TC       P20LEMC                               #  COULD NOT READ RADAR-TRY TO REDESIGNATE
022913,000657: 24,2540           32707                           CAF      ALRM525                               #  RR LOS NOT WITHIN 3 DEGREES (ALARM)
022914,000658: 24,2541           04616                           TC       BANKCALL                              
022915,000659: 24,2542           21451                           CADR     PRIOLARM                              
022916,000660: 24,2543           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022917,000661: 24,2544           02547                           TC       R22LEM1                               #  PROC (DISPLAY DELTA THETA)
022918,000662: 24,2545           02540                           TC       -5                                    #  ENTER (ILLEGAL OPTION)
022919,000663: 24,2546           05155                           TC       ENDOFJOB                              
022920,000664: 
022921,000665: 
022922,000666: 24,2547           05353        R22LEM1            TC       PHASCHNG                              
022923,000667: 24,2550           04022                           OCT      04022                                 
022924,000668: 24,2551           32710                           CAF      V06N05                                #  DISPLAY DELTA THETA
022925,000669: 24,2552           04616                           TC       BANKCALL                              
022926,000670: 24,2553           20362                           CADR     PRIODSP                               
022927,000671: 24,2554           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
022928,000672: 24,2555           02557                           TC       R22LEM2                               #  PROC (OK CONTINUE)
022929,000673: 24,2556           02247                           TC       P20LEMC                               #  ENTER(RECYCLE)
022930,000674: 24,2557           05353        R22LEM2            TC       PHASCHNG                              
022931,000675: 24,2560           04022                           OCT      04022                                 
022932,000676: 24,2561           02714                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022933,000677: 24,2562           02577                           TC       R22LEM3                               #  YES-BYPASS FLAG CHECKS AND LRS22.2
022934,000678: 24,2563           30075                           CA       FLAGWRD1                              #  IS TRACK FLAG SET
022935,000679: 24,2564           74747                           MASK     TRACKBIT                              
022936,000680: 24,2565           00006                           EXTEND                                         
022937,000681: 24,2566           12664                           BZF      R22WAIT                               #  NO - WAIT
022938,000682: 24,2567           04616                           TC       BANKCALL                              #  YES
022939,000683: 24,2570           51230                           CADR     LRS22.2                               #  CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022940,000684: 24,2571           50154                           INDEX    MPAC                                  
022941,000685: 24,2572           02573                           TC       +1                                    
022942,000686: 24,2573           02577                           TC       R22LEM3                               #  NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
022943,000687: 24,2574           04616                           TC       BANKCALL                              
022944,000688: 24,2575           46100                           CADR     R61LEM                                
022945,000689: 24,2576           02664                           TC       R22WAIT                               #  NOT WITHIN 30 DEG OF Z-AXIS
022946,000690: 24,2577           40075        R22LEM3            CS       FLAGWRD1                              #  SHOULD WE BYPASS STATE VECTOR UPDATE
022947,000691: 24,2600           74746                           MASK     NOUPFBIT                              #  (IS NO UPDATE FLAG SET?)
022948,000692: 

Page 518

022950,000694: 24,2601           00006                           EXTEND                                         
022951,000695: 24,2602           12655                           BZF      R22LEM42                              #  BRANCH-YES
022952,000696: 24,2603           30075                           CA       FLAGWRD1                              #  IS UPDATE FLAG SET
022953,000697: 24,2604           74745                           MASK     UPDATBIT                              
022954,000698: 24,2605           00006                           EXTEND                                         
022955,000699: 24,2606           12655                           BZF      R22LEM42                              #  UPDATE FLAG NOT SET
022956,000700: 24,2607           37713                           CAF      PRIO26                                #  INSURE HIGH PRIO IN RESTART
022957,000701: 24,2610           55056                           TS       PHSPRDT2                              
022958,000702: 
022959,000703: 24,2611           06036                           TC       INTPRET                               
022960,000704: 24,2612           77650                           GOTO                                           
022961,000705: 24,2613           54370                                    LSR22.3                               
022962,000706: 24,2614           77776        R22LEM93           EXIT                                           #  NORMAL EXIT FROM LSR22.3
022963,000707: 24,2615           05353                           TC       PHASCHNG                              #  PHASE CHANGE TO PROTECT AGAINST
022964,000708: 24,2616           04022                           OCT      04022                                 #  CONFLICT WITH GRP2PC ERASEABLE
022965,000709: 24,2617           12650                           TCF      R22LEM44                              
022966,000710: 24,2620           77776        R22LEM96           EXIT                                           
022967,000711: 24,2621           34755                           CAF      ZERO                                  #  SET N49FLAG = ZERO TO INDICATE
022968,000712: 24,2622           55744                           TS       N49FLAG                               #  V06 N49 DISPLAY HASNT BEEN ANSWERED
022969,000713: 24,2623           05353                           TC       PHASCHNG                              
022970,000714: 24,2624           04022                           OCT      04022                                 #  TO PROTECT DISPLAY
022971,000715: 24,2625           37714                           CAF      PRIO27                                #  PROTECT DISPLAY
022972,000716: 24,2626           05072                           TC       NOVAC                                 
022973,000717: 24,2627  E7,1744                                  EBANK=   N49FLAG                               
022974,000718: 24,2627           02670 50067                     2CADR    N49DSP                                
022975,000719: 24,2631           06036                           TC       INTPRET                               
022976,000720: 24,2632           77735                           SLOAD                                          
022977,000721: 24,2633           03745                                    N49FLAG                               
022978,000722: 24,2634           50054                           BZE      BMN                                   #  LOOP TO CHECK IF FLAG
022979,000723: 24,2635           50632                                    -3                                    #  SETTING CHANGED-BRANCH - NO
022980,000724: 24,2636           50644                                    R22LEM7                               #  PROCEED
022981,000725: 24,2637           77776                           EXIT                                           #  DISPLAY ANSWERED BY RECYCLE
022982,000726: 24,2640           02714                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
022983,000727: 24,2641           02664                           TC       R22WAIT                               #  YES - 15 SECOND DELAY
022984,000728: 24,2642           34755                           CA       ZERO                                  #  NO - SET R65COUNTER = 0, DO FINE
022985,000729: 24,2643           02660                           TC       R22LEM45                              #  TRACKING TAKE ANOTHER RADAR READING
022986,000730: 24,2644           77624        R22LEM7            CALL                                           #  PROCEED
022987,000731: 24,2645           11165                                    GRP2PC                                #  PHASE CHANGE AND
022988,000732: 24,2646           77650                           GOTO                                           #  GO TO INCORPORATE DATA.
022989,000733: 24,2647           55374                                    ASTOK                                 
022990,000734: 24,2650           25460        R22LEM44           INCR     MARKCTR                               #  INCREMENT COUNT OF MARKS INCORPORATED.
022991,000735: 24,2651           02714                           TC       LUNSFCHK                              #  ARE WE ON LUNAR SURFACE
022992,000736: 24,2652           02666                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
022993,000737: 24,2653           34756                           CA       FIVE                                  #  NOT ON LUNAR SURFACE
022994,000738: 24,2654           02660                           TC       R22LEM45                              #  R65COUNTER = 5
022995,000739: 24,2655           02714        R22LEM42           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022996,000740: 24,2656           02666                           TC       R22LEM46                              #  YES - WAIT 2 SECONDS
022997,000741: 24,2657           34752                           CA       TWO                                   #  NO-SET R65COUNTER = 2
022998,000742: 24,2660           55743        R22LEM45           TS       R65CNTR                               
022999,000743: 

Page 519

023001,000745: 24,2661           04616                           TC       BANKCALL                              
023002,000746: 24,2662           46105                           CADR     R65LEM                                #  FINE PREFERRED TRACKING ATTITUDE
023003,000747: 24,2663           02477                           TC       R22LEM                                
023004,000748: 24,2664           32712        R22WAIT            CAF      1500DEC                               
023005,000749: 24,2665           02263                           TC       P20LEMWT   +1                         
023006,000750: 
023007,000751: 
023008,000752: 24,2666           35000        R22LEM46           CAF      2SECS                                 
023009,000753: 24,2667           02263                           TC       P20LEMWT   +1                         
023010,000754: 
023011,000755: 
023012,000756: 24,2670           32711        N49DSP             CAF      V06N49NB                              
023013,000757: 24,2671           04616                           TC       BANKCALL                              #  EXCESSIVE STATE VECTOR UPDATE - FLASH
023014,000758: 24,2672           20362                           CADR     PRIODSP                               #  VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
023015,000759: 24,2673           06022                           TC       GOTOV56                               #  TERMINATE - EXIT R22 AND P20
023016,000760: 24,2674           44753                           CS       ONE                                   #  PROCEED - N49FLAG = -1
023017,000761: 24,2675           55744                           TS       N49FLAG                               #  RECYCLE - N49FLAG = + VALUE
023018,000762: 24,2676           05155                           TC       ENDOFJOB                              
023019,000763: 24,2677           05353        R22RSTRT           TC       PHASCHNG                              #  IF A RESTART OCCURS WHILE READING RADAR
023020,000764: 24,2700           00152                           OCT      00152                                 #  COME HERE TO TAKE A RANGE-RATE READING
023021,000765: 24,2701           04616                           TC       BANKCALL                              #  WHICH ISNT USED TO PREVENT TAKING A BAD
023022,000766: 24,2702           53103                           CADR     RRRDOT                                #  READING AND TRYING TO INCORPORATE THE
023023,000767: 24,2703           04616                           TC       BANKCALL                              #  BAD DATA
023024,000768: 24,2704           17667                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
023025,000769: 24,2705           02247                           TC       P20LEMC                               #  COULD NOT READ RADAR - TRY TO REDESIGNATE
023026,000770: 24,2706           02477                           TC       R22LEM                                #  READ SUCCESSFUL - CONTINUE AT R22
023027,000771: 
023028,000772: 
023029,000773: 24,2707           00525        ALRM525            OCT      00525                                 
023030,000774: 24,2710           01405        V06N05             VN       00605                                 
023031,000775: 24,2711           01461        V06N49NB           VN       00649                                 
023032,000776: 24,2712           02734        1500DEC            DEC      1500       B-14                       
023033,000777: 24,2713           10624        45SECNDS           DEC      4500       B-14                       
023034,000778:                                                                                                  #  LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
023035,000779:                                                                                                  #           RETURNS TO CALLER +1 IF P22FLAG SET
023036,000780:                                                                                                  #                   TO CALLER +2 IF P22FLAG NOT SET
023037,000781: 
023038,000782: 
023039,000783: 24,2714                                           COUNT*   $$/P22                                
023040,000784: 24,2714           40104        LUNSFCHK           CS       FLAGWRD8                              #  CHECK IF ON LUNAR SURFACE
023041,000785: 24,2715           74744                           MASK     SURFFBIT                              #  IS SURFFLAG SET?
023042,000786: 24,2716           10000                           CCS      A                                     #  BRANCH - P22FLAG SET
023043,000787: 24,2717           24002                           INCR     Q                                     #  NOT SET
023044,000788: 24,2720           00002                           TC       Q                                     #  RETURN
023045,000789: 

Page 520

023047,000791:                                                                                                  #  RR DESIGNATE ROUTINE (R21LEM)
023048,000792:                                                                                                  #  PROGRAM DESCRIPTION
023049,000793:                                                                                                  #  MOD NO - 2
023050,000794:                                                                                                  #  BY P VOLANTE
023051,000795:                                                                                                  #  FUNCTIONAL DESCRIPTION
023052,000796: 
023053,000797:                                                                                                  #    TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
023054,000798:                                                                                                  #  OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
023055,000799:                                                                                                  #  CALLING SEQUENCE -
023056,000800:                                                                                                  #           TC     BANKCALL
023057,000801:                                                                                                  #           CADR   R21LEM
023058,000802:                                                                                                  #  SUBROUTINES CALLED -
023059,000803:                                                                                                  #    FINDVAC        FLAGUP           ENDOFJOB        PRIOLARM
023060,000804:                                                                                                  #    NOVAC          INTPRET          LPS20.1         PHASCHNG
023061,000805:                                                                                                  #    WAITLIST       JOBSLEEP         JOBWAKE         FLAGDOWN
023062,000806:                                                                                                  #    TASKOVER       BANKCALL         RADSTALL        RRDESSM
023063,000807:                                                                                                  #  NORMAL EXIT MODES
023064,000808:                                                                                                  #    WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
023065,000809:                                                                                                  #  WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
023066,000810:                                                                                                  #  ALARM OR ABORT EXIT MODES-
023067,000811:                                                                                                  #    PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
023068,000812:                                                                                                  #  THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
023069,000813:                                                                                                  #  ACQUISITION
023070,000814:                                                                                                  #  OUTPUT
023071,000815:                                                                                                  #    SEE LPS20.1,RRDESSM
023072,000816:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
023073,000817:                                                                                                  #    RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
023074,000818:                                                                                                  #  FLAGS SET + RESET
023075,000819:                                                                                                  #    LOSCMFLG      LOKONSW
023076,000820:                                                                                                  #  DEBRIS
023077,000821:                                                                                                  #    SEE LPS20.1,RRDESSM
023078,000822: 24,2721  E7,1454                                  EBANK=   LOSCOUNT                              
023079,000823: 24,2721                                           COUNT*   $$/R21                                
023080,000824: 24,2721           32341        R21LEM             CAF      MAXTRIES                              #  ALLOW 60 PASSES (APPROX 45 SECS.) TO
023081,000825: 24,2722           55114                           TS       DESCOUNT                              #  DESIGNATE AND LOCKON
023082,000826: 24,2723           02714                           TC       LUNSFCHK                              
023083,000827: 24,2724           02731                           TC       R21LEM5                               
023084,000828: 24,2725           34755                           CAF      ZERO                                  #       COMMAND ANTENNA TO MODE CENTER
023085,000829: 24,2726           55107                           TS       TANG                                  #  IF NOT ON SURFACE-MODE 1-(T=0,S=0)
023086,000830: 24,2727           55110                           TS       TANG       +1                         
023087,000831: 24,2730           02735                           TC       R21LEM6                               
023088,000832: 24,2731           34735        R21LEM5            CAF      BIT15                                 #  IF ON LUNAR SURFACE-MODE 2-(T=180,S=-90)
023089,000833: 24,2732           55107                           TS       TANG                                  
023090,000834: 24,2733           44736                           CS       HALF                                  
023091,000835: 24,2734           55110                           TS       TANG       +1                         
023092,000836: 24,2735           05516        R21LEM6            TC       DOWNFLAG                              
023093,000837: 24,2736           00012                           ADRES    LOKONSW                               
023094,000838: 24,2737           04616                           TC       BANKCALL                              
023095,000839: 24,2740           52475                           CADR     RRDESNB                               
023096,000840: 24,2741           02742                           TC       +1                                    
023097,000841: 

Page 521

023099,000843: 24,2742           04616                           TC       BANKCALL                              
023100,000844: 24,2743           17667                           CADR     RADSTALL                              
023101,000845: 24,2744           02777                           TC       R21-503                               #  BAD RETURN FROM DESIGNATE -ISSUE ALARM
023102,000846: 24,2745           05504        R21LEM10           TC       UPFLAG                                #  INDICATES LOS TO BE COMPUTED
023103,000847: 24,2746           00041                           ADRES    LOSCMFLG                              #  EVERY FOURTH PASS THRU DODES
023104,000848: 24,2747           44736                           CS       BIT14                                 #  REMOVE RR SELF TRACK ENABLE
023105,000849: 24,2750           00006                           EXTEND                                         
023106,000850: 24,2751           03012                           WAND     CHAN12                                
023107,000851: 24,2752           36244        R21LEM2            CAF      THREE                                 
023108,000852: 24,2753           55454                           TS       LOSCOUNT                              
023109,000853: 24,2754           06036        R21LEM1            TC       INTPRET                               
023110,000854: 24,2755           43234                           RTB      DAD                                   
023111,000855: 24,2756           21462                                    LOADTIME                              
023112,000856: 24,2757           11026                                    HALFSEC                               #  EXTRAPOLATE TO PRESENT TIME + .5 SEC.
023113,000857: 24,2760           34041                           STCALL   TDEC1                                 #  LOS DETERMINATION ROUTINE
023114,000858: 24,2761           51151                                    LPS20.1                               
023115,000859: 24,2762           77776                           EXIT                                           
023116,000860: 24,2763           05504        R21LEM3            TC       UPFLAG                                #  SET LOKONSW TO RADAR-ON DESIRED
023117,000861: 24,2764           00012                           ADRES    LOKONSW                               
023118,000862: 24,2765           06036                           TC       INTPRET                               
023119,000863: 24,2766           77624                           CALL                                           #  INPUT (RRTARGET UPDATED BY LPS20.1)
023120,000864: 24,2767           52373                                    RRDESSM                               #  DESIGNATE ROUTINE
023121,000865: 24,2770           77776                           EXIT                                           
023122,000866: 24,2771           03016                           TC       R21LEM4                               #  LOS NOT IN MODE 2 COVERAGE
023123,000867:                                                                                                  #  ON LUNAR SURFACE
023124,000868: 24,2772           02132                           TC       P20LEMA                               #  VEHICLE MANEUVER REQUIRED.
023125,000869: 24,2773           04616                           TC       BANKCALL                              #  NO VEHICLE MANEUVER REQUIRED
023126,000870: 24,2774           17667                           CADR     RADSTALL                              #  WAIT FOR DESIGNATE COMPLETE - LOCKON OR
023127,000871: 24,2775           02777                           TC       +2                                    #  BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
023128,000872: 24,2776           03006                           TC       R21END                                #  EXIT ROUTINE RETURN TO P20 (LOCK-ON)
023129,000873: 24,2777           33014        R21-503            CAF      ALRM503                               #  ISSUE ALARM 503
023130,000874: 24,3000           04616                           TC       BANKCALL                              
023131,000875: 24,3001           21451                           CADR     PRIOLARM                              
023132,000876: 24,3002           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
023133,000877: 24,3003           03011                           TC       R21SRCH                               #  PROC
023134,000878: 24,3004           02232                           TC       P20LEMC3                              
023135,000879: 24,3005           05155                           TC       ENDOFJOB                              
023136,000880: 24,3006           05516        R21END             TC       DOWNFLAG                              
023137,000881: 24,3007           00041                           ADRES    LOSCMFLG                              #  RESET LOSCMFLG
023138,000882: 24,3010           02262                           TC       P20LEMWT                              #  EXIT R21 TO PERFORM DATA READ
023139,000883: 24,3011           05353        R21SRCH            TC       PHASCHNG                              
023140,000884: 24,3012           04022                           OCT      04022                                 
023141,000885: 24,3013           03100                           TC       R24LEM                                #  SEARCH ROUTINE
023142,000886: 24,3014           00503        ALRM503            OCT      00503                                 
023143,000887: 24,3015           00527        ALRM527            OCT      527                                   
023144,000888: 
023145,000889: 
023146,000890: 24,3016           33015        R21LEM4            CAF      ALRM527                               #  ALARM 527-LOS NOT IN MODE 2 COVERAGE
023147,000891: 24,3017           04616                           TC       BANKCALL                              #  ON LUNAR SURFACE
023148,000892: 24,3020           21451                           CADR     PRIOLARM                              
023149,000893: 

Page 522

023151,000895: 24,3021           06022                           TC       GOTOV56                               #  TERMINATE EXITS P20 VIA V56 CODING
023152,000896: 24,3022           02232                           TC       P20LEMC3                              
023153,000897: 24,3023           03016                           TC       -5                                    #  ENTER
023154,000898: 24,3024           05155                           TC       ENDOFJOB                              
023155,000899: 24,3025           00000 00062  HALFSEC            2DEC     50         B-28                       
023156,000900: 

Page 523

023158,000902:                                                                                                  #  MANUAL ACQUISITION ROUTINE R23LEM
023159,000903:                                                                                                  #  PROGRAM DESCRIPTION
023160,000904:                                                                                                  #  MOD NO - 2
023161,000905:                                                                                                  #  BY P VOLANTE
023162,000906:                                                                                                  #  FUNCTIONAL DESCRIPTION
023163,000907: 
023164,000908:                                                                                                  #    TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
023165,000909:                                                                                                  #  CALLING SEQUENCE -
023166,000910:                                                                                                  #           TC     R23LEM
023167,000911:                                                                                                  #  SUBROUTINES CALLED
023168,000912:                                                                                                  #    BANKCALL        R61LEM
023169,000913:                                                                                                  #    SETMINDB        GOPERF1
023170,000914:                                                                                                  #  NORMAL EXIT MODES -
023171,000915:                                                                                                  #    IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
023172,000916:                                                                                                  #                               ,SELECTION OF PROC  WILL CONTINUE R23
023173,000917:                                                                                                  #                               ,SELECTION OF TERM  WILL TERMINATE R23 +P20
023174,000918:                                                                                                  #  ALARM OR ABORT EXIT MODES -
023175,000919:                                                                                                  #    SEE NORMAL EXIT MODES ABOVE
023176,000920:                                                                                                  #  OUTPUT
023177,000921:                                                                                                  #    N.A.
023178,000922:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
023179,000923:                                                                                                  #    ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
023180,000924: 24,3027     1143                                  EBANK=   GENRET                                
023181,000925: 24,3027                                           COUNT*   $$/R23                                
023182,000926: 24,3027           05504        R23LEM             TC       UPFLAG                                #  SET NO ANGLE MONITOR FLAG
023183,000927: 24,3030           00126                           ADRES    NORRMON                               
023184,000928: 24,3031           00004                           INHINT                                         
023185,000929: 24,3032           04674                           TC       IBNKCALL                              #  SELECT MINIMUM DEADBAND
023186,000930: 24,3033           40140                           CADR     SETMINDB                              
023187,000931: 24,3034           00003                           RELINT                                         
023188,000932: 24,3035           34736        R23LEM1            CAF      BIT14                                 #  ENABLE TRACKER
023189,000933: 24,3036           00006                           EXTEND                                         
023190,000934: 24,3037           05012                           WOR      CHAN12                                
023191,000935: 24,3040           33077                           CAF      OCT205                                
023192,000936: 24,3041           04616                           TC       BANKCALL                              
023193,000937: 24,3042           20476                           CADR     GOPERF1                               
023194,000938: 24,3043           03070                           TC       R23LEM2                               #  TERMINATE
023195,000939: 24,3044           03046                           TC       R23LEM11                              #  PROCEDE
023196,000940: 24,3045           03073                           TC       R23LEM3                               #  ENTER- DO ANOTHER MANUVER
023197,000941: 24,3046           00004        R23LEM11           INHINT                                         
023198,000942: 24,3047           04523                           TC       RRLIMCHK                              #  YES - CHECK IF ANTENNA IS WITHIN LIMITS
023199,000943: 24,3050           00035                           ADRES    CDUT                                  
023200,000944: 24,3051           03060                           TC       OUTOFLIM                              #  NOT WITHIN LIMITS
023201,000945: 24,3052           04674                           TC       IBNKCALL                              #  RESTORE DEADBAND TO
023202,000946: 24,3053           40123                           CADR     RESTORDB                              #  ASTRONAUT SELECTED VALUE
023203,000947: 24,3054           00003                           RELINT                                         
023204,000948: 24,3055           05516                           TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
023205,000949: 24,3056           00126                           ADRES    NORRMON                               
023206,000950: 24,3057           02204                           TC       P20LEMB1                              #  RADAR IS LOCKED ON CONTINUE IN P20
023207,000951: 24,3060           00003        OUTOFLIM           RELINT                                         
023208,000952: 

Page 524

023210,000954: 24,3061           33076                           CAF      OCT501PV                              
023211,000955: 24,3062           04616                           TC       BANKCALL                              #  ISSUE ALARM - RR ANTENNA NOT WITHIN
023212,000956: 24,3063           21451                           CADR     PRIOLARM                              #  LIMITS
023213,000957: 24,3064           03070                           TC       R23LEM2                               #  TERMINATE - EXIT R23 TO R00 (GO TO POOH)
023214,000958: 24,3065           03061                           TC       OUTOFLIM   +1                         #  PROCEED ILLEGAL
023215,000959: 24,3066           03073                           TC       R23LEM3                               #  RECYCLE- DO ANOTHER MANUVER
023216,000960: 24,3067           05155                           TC       ENDOFJOB                              
023217,000961: 24,3070           05516        R23LEM2            TC       DOWNFLAG                              #  CLEAR NO ANGLE MONITOR FLAG
023218,000962: 24,3071           00126                           ADRES    NORRMON                               
023219,000963: 24,3072           06022                           TC       GOTOV56                               #  AND EXIT VIA V56
023220,000964: 24,3073           04616        R23LEM3            TC       BANKCALL                              
023221,000965: 24,3074           46100                           CADR     R61LEM                                
023222,000966: 24,3075           03035                           TC       R23LEM1                               
023223,000967: 
023224,000968: 24,3076           00501        OCT501PV           OCT      501                                   
023225,000969: 24,3077           00205        OCT205             OCT      205                                   
023226,000970: 

Page 525

023228,000972:                                                                                                  #  SEARCH ROUTINE R24LEM
023229,000973:                                                                                                  #  PROGRAM DESCRIPTION
023230,000974:                                                                                                  #  MOD NO - 2
023231,000975:                                                                                                  #  BY  P. VOLANTE
023232,000976:                                                                                                  #  FUNCTIONAL DESCRIPTION
023233,000977: 
023234,000978:                                                                                                  #    TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
023235,000979:                                                                                                  #  FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
023236,000980:                                                                                                  #  THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
023237,000981:                                                                                                  #  CALLING SEQUENCE
023238,000982:                                                                                                  #           CAF    PRIONN
023239,000983:                                                                                                  #           TC     FINDVAC
023240,000984:                                                                                                  #           EBANK= DATAGOOD
023241,000985:                                                                                                  #           2CADR  R24LEM
023242,000986:                                                                                                  #  SUBROUTINES CALLED
023243,000987:                                                                                                  #    FLAGUP        FLAGDOWN      BANKCALL
023244,000988:                                                                                                  #    R61LEM        GOFLASHR      FINDVAC
023245,000989:                                                                                                  #    ENDOFJOB      NOVAC         LSR24.1
023246,000990:                                                                                                  #  NORMAL EXIT MODES-
023247,000991:                                                                                                  #    ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
023248,000992:                                                                                                  #  REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
023249,000993:                                                                                                  #  PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
023250,000994:                                                                                                  #  ALARM OR ABORT EXIT MODES-
023251,000995:                                                                                                  #    SEE NORMAL EXIT MODES ABOVE
023252,000996:                                                                                                  #  OUTPUT -
023253,000997:                                                                                                  #    SEE OUTPUT FROM LSR24.1 + R61LEM
023254,000998:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
023255,000999:                                                                                                  #    SEE INPUT FOR LSR24.1
023256,001000:                                                                                                  #  FLAGS SET + RESET
023257,001001:                                                                                                  #    SRCHOPT,ACMODFLG
023258,001002: 24,3100  E7,1731                                  EBANK=   DATAGOOD                              
023259,001003: 24,3100                                           COUNT*   $$/R24                                
023260,001004: 24,3100           05504        R24LEM             TC       UPFLAG                                
023261,001005: 24,3101           00037                           ADRES    SRCHOPTN                              #  SET SRCHOPT FLAG
023262,001006: 24,3102           05516                           TC       DOWNFLAG                              #  RESET LOS BEING COMPUTED FLAG TO MAKE
023263,001007: 24,3103           00041                           ADRES    LOSCMFLG                              #  SURE DODES DOESN'T GO TO R21
023264,001008: 24,3104           34755        R24LEM1            CAF      ZERO                                  
023265,001009: 24,3105           55731                           TS       DATAGOOD                              #  ZERO OUT DATA INDICATOR
023266,001010: 24,3106           55732                           TS       OMEGAD                                #  ZERO OMEGA DISPLAY REGS
023267,001011: 24,3107           55733                           TS       OMEGAD     +1                         #  ZERO OMEGA DISPLAY REGS
023268,001012: 24,3110           05353        R24LEM2            TC       PHASCHNG                              
023269,001013: 24,3111           04022                           OCT      04022                                 
023270,001014: 24,3112           33150                           CAF      V16N80                                
023271,001015: 24,3113           04616                           TC       BANKCALL                              
023272,001016: 24,3114           20357                           CADR     PRIODSPR                              
023273,001017: 24,3115           06022                           TC       GOTOV56                               
023274,001018: 24,3116           03122                           TC       R24END                                #  PROCEED EXIT R24 TO P20LEM1
023275,001019: 
023276,001020: 
023277,001021: 24,3117           03127                           TC       R24LEM3                               #  RECYCLE - CALL R61 TO MANEUVER S/C
023278,001022: 

Page 526

023280,001024: 24,3120           04616                           TC       BANKCALL                              
023281,001025: 24,3121           55405                           CADR     LRS24.1                               
023282,001026: 24,3122           00004        R24END             INHINT                                         
023283,001027: 24,3123           06027                           TC       KILLTASK                              
023284,001028: 24,3124           55605                           CADR     CALLDGCH                              
023285,001029: 24,3125           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 & 15 OF RADMODES.
023286,001030: 24,3126           12104                           TCF      P20LEM1                               #  AND GO TO 400 MI. RANGE CHECK IN P20.
023287,001031: 
023288,001032:    6011                                           BLOCK    3                                     
023289,001033:    6000                                           SETLOC   FFTAG6                                
023290,001034:    6000                                           BANK                                           
023291,001035:    6011                                           COUNT*   $$/R24                                
023292,001036: 
023293,001037:    6011           46021        CLRADMOD           CS       BIT10+15                              
023294,001038:    6012           00004                           INHINT                                         
023295,001039:    6013           70110                           MASK     RADMODES                              
023296,001040:    6014           54110                           TS       RADMODES                              
023297,001041:    6015           44752                           CS       BIT2                                  #  DISABLE RR ERROR COUNTERS
023298,001042:    6016           00006                           EXTEND                                         
023299,001043:    6017           03012                           WAND     CHAN12                                #  USER WILL RELINT
023300,001044: 
023301,001045:    6020           00002                           TC       Q                                     
023302,001046: 
023303,001047:    6021           41000        BIT10+15           OCT      41000                                 
023304,001048: 24,3127                                           BANK     24                                    
023305,001049: 24,2000                                           SETLOC   P20S                                  
023306,001050: 24,2000                                           BANK                                           
023307,001051: 24,3127                                           COUNT*   $$/R24                                
023308,001052: 
023309,001053: 24,3127           05353        R24LEM3            TC       PHASCHNG                              
023310,001054: 24,3130           04022                           OCT      04022                                 
023311,001055: 24,3131           00004                           INHINT                                         
023312,001056: 24,3132           06027                           TC       KILLTASK                              
023313,001057: 24,3133           55605                           CADR     CALLDGCH                              #  KILL WAITLIST FOR NEXT POINT IN PATTERN
023314,001058: 24,3134           06011                           TC       CLRADMOD                              #  CLEAR BITS 10 + 15 OF RADMODES TO KILL
023315,001059: 24,3135           00003                           RELINT                                         #  HALF SECOND DESIGNATE LOOP
023316,001060: 24,3136           34774                           CAF      .5SEC                                 
023317,001061: 24,3137           04616                           TC       BANKCALL                              #  WAIT FOR DESIGNATE LOOP TO DIE
023318,001062: 24,3140           01735                           CADR     DELAYJOB                              
023319,001063: 24,3141           02714                           TC       LUNSFCHK                              #  CHECK IF ON LUNAR SURFACE
023320,001064: 24,3142           03110                           TC       R24LEM2                               #  YES-DONT DO ATTITUDE MANEUVER
023321,001065: 24,3143           04616                           TC       BANKCALL                              #  CALL R61 TO DO PREFERRED TRACKING
023322,001066: 24,3144           46100                           CADR     R61LEM                                #  ATTITUDE MANEUVER
023323,001067: 24,3145           34755                           CAF      ZERO                                  #  ZERO OUT RADCADR (WHICH WAS SET BY
023324,001068: 24,3146           55306                           TS       RADCADR                               #  ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
023325,001069:                                                                                                  #  RRDESSM WILL RETURN TO CALLER
023326,001070: 24,3147           03110                           TC       R24LEM2                               #  AND GO BACK TO PUT UP V16 N80 DISPLAY
023327,001071: 

Page 527

023329,001073: 24,3150           04120        V16N80             VN       01680                                 
023330,001074: 

Page 528

023332,001076:                                                                                                  #  PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
023333,001077:                                                                                                  #  PROGRAM DESCRIPTION
023334,001078:                                                                                                  #  MOD NO : 3                      DATE : 4-11-67
023335,001079:                                                                                                  #  MOD BY : P VOLANTE  SDC
023336,001080: 
023337,001081: 
023338,001082:                                                                                                  #  FUNCTIONAL DESCRIPTION-
023339,001083:                                                                                                  #    TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
023340,001084:                                                                                                  #  TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
023341,001085:                                                                                                  #  ATTITUDE.
023342,001086:                                                                                                  #  CALLING SEQUENCE-
023343,001087:                                                                                                  #           TC     BANKCALL
023344,001088:                                                                                                  #           CADR   R61LEM
023345,001089:                                                                                                  #  SUBROUTINES CALLED
023346,001090:                                                                                                  #      LPS20.1       VECPOINT
023347,001091:                                                                                                  #      KALCMAN3
023348,001092: 
023349,001093: 
023350,001094:                                                                                                  #  NORMAL EXIT MODES-
023351,001095:                                                                                                  #    NORMAL RETURN IS TO CALLER + 1
023352,001096:                                                                                                  #  ALARM OR ABORT EXIT MODES-
023353,001097:                                                                                                  #    TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
023354,001098:                                                                                                  #  RENDEZVOUS FLAG ARE NOT SET.
023355,001099:                                                                                                  #  OUTPUT -
023356,001100:                                                                                                  #    SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
023357,001101:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
023358,001102:                                                                                                  #    GENRET USED TO SAVE Q FOR RETURN
023359,001103:                                                                                                  #  FLAGS SET + RESET
023360,001104:                                                                                                  #    3AXISFLG
023361,001105:                                                                                                  #  DEBRIS
023362,001106:                                                                                                  #    SEE SUBROUTINES
023363,001107: 23,2000                                           SETLOC   R61                                   
023364,001108: 23,2000                                           BANK                                           
023365,001109: 23,2100  E7,1454                                  EBANK=   LOSCOUNT                              
023366,001110: 23,2100                                           COUNT*   $$/R61                                
023367,001111: 23,2100           04645        R61LEM             TC       MAKECADR                              
023368,001112: 23,2101           55143                           TS       GENRET                                
023369,001113: 23,2102           05504                           TC       UPFLAG                                #  SET R61 FLAG
023370,001114: 23,2103           00024                           ADRES    R61FLAG                               
023371,001115: 23,2104           02111                           TC       R61C+L01                              
023372,001116: 23,2105           04645        R65LEM             TC       MAKECADR                              
023373,001117: 23,2106           55143                           TS       GENRET                                
023374,001118: 23,2107           05516                           TC       DOWNFLAG                              #  RESET R61 FLAG
023375,001119: 23,2110           00024                           ADRES    R61FLAG                               
023376,001120: 23,2111           34747        R61C+L01           CAF      TRACKBIT                              #  TRACKFLAG
023377,001121: 23,2112           70075                           MASK     STATE      +1                         
023378,001122: 23,2113           00006                           EXTEND                                         
023379,001123: 23,2114           12262                           BZF      R61C+L1                               #  NOT SET
023380,001124: 23,2115           06036        R61C+L03           TC       INTPRET                               #  SET
023381,001125: 23,2116           77775                           VLOAD                                          
023382,001126: 

Page 529

023384,001128: 23,2117           06416                                    HIUNITZ                               
023385,001129: 23,2120           03761                           STORE    SCAXIS                                #  TRACK AXIS UNIT VECTOR
023386,001130: 23,2121           77634                           RTB                                            
023387,001131: 23,2122           21462                                    LOADTIME                              #  PRESENT TIME
023388,001132: 23,2123           77615                           DAD                                            #  EXTRAPULATE FORWARD FORWARD TO CENTER OF
023389,001133: 23,2124           15654                                    3SECONDS                              #  SIX SECOND PERIOD.
023390,001134: 23,2125           34041                           STCALL   TDEC1                                 
023391,001135: 23,2126           51151                                    LPS20.1                               #  LOS DETERMINATION + VEH ATTITUDE
023392,001136: 23,2127           77775                           VLOAD                                          
023393,001137: 23,2130           01102                                    RRTARGET                              
023394,001138: 23,2131           03767                           STORE    POINTVSM                              #  DIRECTION IN WHICH TRACK AXIS IS TO BE
023395,001139: 23,2132           77624                           CALL                                           
023396,001140: 23,2133           56016                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
023397,001141: 23,2134           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI,CTHETA,CPSI
023398,001142: 23,2135           77776                           EXIT                                           
023399,001143: 23,2136           05353                           TC       PHASCHNG                              
023400,001144: 23,2137           04022                           OCT      04022                                 
023401,001145: 23,2140           34747                           CAF      TRACKBIT                              #   IS TRACK FLAG SET
023402,001146: 23,2141           70075                           MASK     FLAGWRD1                              
023403,001147: 23,2142           00006                           EXTEND                                         
023404,001148: 23,2143           12262                           BZF      R61C+L1                               #  BRANCH - NO SKIP THIS CYCLE OF R61/65
023405,001149: 23,2144           00006                           EXTEND                                         
023406,001150: 23,2145           00030                           READ     CHAN30                                #  CHECK AUTO MODE
023407,001151: 23,2146           74742                           MASK     BIT10                                 
023408,001152: 23,2147           10000                           CCS      A                                     
023409,001153: 23,2150           02255                           TC       R61C+L04                              #  NOT IN G+N  C(A) = +
023410,001154: 23,2151           00006                           EXTEND                                         
023411,001155: 23,2152           00031                           READ     CHAN31                                
023412,001156: 23,2153           74736                           MASK     BIT14                                 #  (+) = NOT IN AUTO, (+0) =AOK
023413,001157: 23,2154           10000                           CCS      A                                     
023414,001158: 23,2155           02255                           TC       R61C+L04                              #  NOT IN AUTO MODE
023415,001159: 23,2156           06036                           TC       INTPRET                               
023416,001160: 23,2157           45175                           VLOAD    CALL                                  
023417,001161: 23,2160           01102                                    RRTARGET                              
023418,001162: 23,2161           47552                                    CDU*SMNB                              
023419,001163: 23,2162           65545                           DLOAD    ACOS                                  
023420,001164: 23,2163           00162                                    MPAC       +5                         
023421,001165: 23,2164           14025                           STODL    PHI                                   
023422,001166: 23,2165           06271                                    TENDEG                                
023423,001167: 23,2166           51021                           BDSU     BPL                                   
023424,001168: 23,2167           00025                                    PHI                                   
023425,001169: 23,2170           46206                                    R61C+L05                              #  PHI GRE 10DEG
023426,001170: 23,2171  E6,1633                                  EBANK=   CDUXD                                 
023427,001171: 23,2171           77776                           EXIT                                           
023428,001172: 23,2172           32273                           CAF      CDUBANK                               
023429,001173: 23,2173           54006                           TS       BBANK                                 
023430,001174: 23,2174           00004                           INHINT                                         
023431,001175: 23,2175           00006                           EXTEND                                         
023432,001176: 23,2176           30322                           DCA      CPHI                                  
023433,001177: 23,2177           53634                           DXCH     CDUXD                                 
023434,001178: 

Page 530

023436,001180: 23,2200           30323                           CA       CPSI                                  
023437,001181: 23,2201           55635                           TS       CDUZD                                 
023438,001182: 23,2202           00003                           RELINT                                         
023439,001183: 23,2203  E7,1454                                  EBANK=   LOSCOUNT                              
023440,001184: 23,2203           32274                           CAF      R61BANK                               
023441,001185: 23,2204           54006                           TS       BBANK                                 
023442,001186: 23,2205           02231                           TC       R61C+L06                              
023443,001187: 23,2206           77776        R61C+L05           EXIT                                           
023444,001188: 23,2207           00004                           INHINT                                         
023445,001189: 23,2210           04674                           TC       IBNKCALL                              
023446,001190: 23,2211           40153                           FCADR    ZATTEROR                              
023447,001191: 23,2212           04674                           TC       IBNKCALL                              
023448,001192: 23,2213           40140                           FCADR    SETMINDB                              #  REDUCE ATTITUDE ERROR
023449,001193: 23,2214           05516                           TC       DOWNFLAG                              
023450,001194: 23,2215           00124                           ADRES    3AXISFLG                              
023451,001195: 23,2216           05504                           TC       UPFLAG                                
023452,001196: 23,2217           00077                           ADRES    PDSPFLAG                              #  SET PRIORITY DISPLAY FLAG
023453,001197: 23,2220           04616                           TC       BANKCALL                              
023454,001198: 23,2221           54101                           CADR     R60LEM                                
023455,001199: 23,2222           00004                           INHINT                                         
023456,001200: 23,2223           04674                           TC       IBNKCALL                              
023457,001201: 23,2224           40123                           FCADR    RESTORDB                              
023458,001202: 23,2225           05353                           TC       PHASCHNG                              
023459,001203: 23,2226           04022                           OCT      04022                                 
023460,001204: 23,2227           05516                           TC       DOWNFLAG                              
023461,001205: 23,2230           00077                           ADRES    PDSPFLAG                              #  RESET PRIORITY DISPLAY FLAG
023462,001206: 23,2231           34742        R61C+L06           CAF      R61FLBIT                              
023463,001207: 23,2232           70075                           MASK     STATE      +1                         
023464,001208: 23,2233           00006                           EXTEND                                         
023465,001209: 23,2234           12236                           BZF      +2                                    
023466,001210: 23,2235           02260                           TC       R61C+L4                               
023467,001211: 23,2236           31743                           CA       R65CNTR                               
023468,001212: 23,2237           10000                           CCS      A                                     
023469,001213: 23,2240           02242                           TC       +2                                    
023470,001214: 23,2241           02260                           TC       R61C+L4                               #  R65CNTR = 0 - EXIT ROUTINE
023471,001215: 23,2242           55743                           TS       R65CNTR                               
023472,001216: 23,2243           32272                           CAF      06SEC                                 
023473,001217: 23,2244           00004                           INHINT                                         
023474,001218: 23,2245           05173                           TC       TWIDDLE                               
023475,001219: 23,2246           02250                           ADRES    R61C+L2                               
023476,001220: 23,2247           05155                           TC       ENDOFJOB                              
023477,001221: 23,2250           37713        R61C+L2            CAF      PRIO26                                
023478,001222: 23,2251           05105                           TC       FINDVAC                               
023479,001223: 23,2252  E7,1454                                  EBANK=   LOSCOUNT                              
023480,001224: 23,2252           02111 46067                     2CADR    R61C+L01                              
023481,001225: 23,2254           05261                           TC       TASKOVER                              
023482,001226: 23,2255           04616        R61C+L04           TC       BANKCALL                              #  TO CONVERT ANGLES TO FDAI
023483,001227: 23,2256           54244                           CADR     BALLANGS                              
023484,001228: 23,2257           02231                           TC       R61C+L06                              
023485,001229: 

Page 531

023487,001231: 23,2260           31143        R61C+L4            CAE      GENRET                                
023488,001232: 23,2261           14640                           TCF      BANKJUMP                              #  EXIT R61
023489,001233: 23,2262           32267        R61C+L1            CAF      BIT7+9PV                              #  IS RENDEZVOUS OR P25FLAG SET
023490,001234: 23,2263           70074                           MASK     STATE                                 
023491,001235: 23,2264           00006                           EXTEND                                         
023492,001236: 23,2265           15155                           BZF      ENDOFJOB                              #  NO-EXIT ROUTINE AND PROGRAM.
023493,001237: 23,2266           02231                           TC       R61C+L06                              #  YES EXIT ROUTINE
023494,001238: 23,2267           00500        BIT7+9PV           OCT      00500                                 
023495,001239: 23,2270           00707 03432  TENDEG             2DEC     .02777777                             #  SCALED UNITS OF REVOLUTION B0
023496,001240: 23,2272           01130        06SEC              DEC      600        B-14                       
023497,001241: 23,2273                        PHI                EQUALS   20D                                   
023498,001242: 23,2273  E6,1633                                  EBANK=   CDUXD                                 
023499,001243: 23,2273           46066        CDUBANK            BBCON    R61C+L05                              
023500,001244: 23,2274  E7,1454                                  EBANK=   LOSCOUNT                              
023501,001245: 23,2274           46067        R61BANK            BBCON    R61C+L05                              
023502,001246:    4512                                           BLOCK    02                                    
023503,001247:    4000                                           SETLOC   RADARFF                               
023504,001248:    4000                                           BANK                                           
023505,001249: 
023506,001250:    4512  E7,1454                                  EBANK=   LOSCOUNT                              
023507,001251:    4512                                           COUNT*   $$/RRSUB                              
023508,001252: 

Page 532

023510,001254:                                                                                                  #  THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023511,001255:                                                                                                  #  NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023512,001256: 
023513,001257:    4512           00006        MAGSUB             EXTEND                                         
023514,001258:    4513           64515                           BZMF     +2                                    
023515,001259:    4514           14516                           TCF      +2                                    
023516,001260:    4515           40000                           COM                                            
023517,001261: 
023518,001262:    4516           50002                           INDEX    Q                                     
023519,001263:    4517           60000                           AD       0                                     
023520,001264:    4520           00006                           EXTEND                                         
023521,001265:    4521           66740                           BZMF     Q+2                                   #  ABS(A) <= CONST GO TO L+3
023522,001266:    4522           16736                           TCF      Q+1                                   #  ABS(A) >  CONST GO TO L+2
023523,001267: 

Page 533

023525,001269:                                                                                                  #  PROGRAM NAME_  RRLIMCHK                                                  ARE IN THE LIMITS OF THE CURRENT MODE.
023526,001270: 
023527,001271:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023528,001272:                                                                                                  #  RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023529,001273:                                                                                                  #  THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023530,001274:                                                                                                  #  SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023531,001275:                                                                                                  #  ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023532,001276:                                                                                                  #  MODE 1 AND =1 FOR MODE 2.
023533,001277:                                                                                                  #  MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023534,001278:                                                                                                  #  BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023535,001279:                                                                                                  #  THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023536,001280:                                                                                                  #  IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023537,001281:                                                                                                  #  MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023538,001282:                                                                                                  #  BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023539,001283:                                                                                                  #  LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023540,001284:                                                                                                  #  AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023541,001285:                                                                                                  #  TO L +3.
023542,001286: 
023543,001287:                                                                                                  #  CALLING SEQUENCE:
023544,001288:                                                                                                  #  L  TC  RRLIMCHK (WITH INTERRUPT INHIBITED)
023545,001289:                                                                                                  #  L +1  ADRES  T,S  (DESIRED TRUNNION ANGLE ADDRESS)
023546,001290: 
023547,001291:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023548,001292:                                                                                                  #  RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023549,001293:                                                                                                  #  ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023550,001294:                                                                                                  #  CURRENT EBANK).
023551,001295: 
023552,001296:                                                                                                  #  SUBROUTINES CALLED_  MAGSUB
023553,001297: 
023554,001298:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
023555,001299: 
023556,001300:                                                                                                  #  ALARMS_  NONE
023557,001301: 
023558,001302:                                                                                                  #  EXIT_  L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023559,001303:                                                                                                  #  L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023560,001304: 
023561,001305:    4523           00006        RRLIMCHK           EXTEND                                         
023562,001306:    4524           50002                           INDEX    Q                                     
023563,001307:    4525           50000                           INDEX    0                                     
023564,001308:    4526           30001                           DCA      0                                     
023565,001309:    4527           24002                           INCR     Q                                     
023566,001310:    4530           52062                           DXCH     ITEMP1                                
023567,001311:    4531           22002                           LXCH     Q                                     #  L(CALLER +2) TO L.
023568,001312: 
023569,001313:    4532           34740                           CAF      BIT12                                 #  SEE WHICH MODE RR IS IN.
023570,001314:    4533           70110                           MASK     RADMODES                              
023571,001315:    4534           10000                           CCS      A                                     
023572,001316:    4535           14550                           TCF      MODE2CHK                              
023573,001317: 
023574,001318:    4536           30061                           CA       ITEMP1                                #  MODE 1 IS DEFINED AS
023575,001319: 

Page 534

023577,001321:    4537           04512                           TC       MAGSUB                                #      1. ABS(T) L 55 DEGS.
023578,001322:    4540           66161                           DEC      -.30555                               #      2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023579,001323:    4541           00001                           TC       L                                     #          (SHAFT LIMITS AT +59, -70 DEGS)
023580,001324: 
023581,001325:    4542           34562                           CAF      5.5DEGS                               
023582,001326:    4543           60062                           AD       ITEMP2                                #  S
023583,001327:    4544           04512                           TC       MAGSUB                                
023584,001328:    4545           64420                           DEC      -.35833                               #  64.5 DEGS
023585,001329:    4546           00001                           TC       L                                     
023586,001330:    4547           04560                           TC       RRLIMOK                               #  IN LIMITS.
023587,001331: 
023588,001332:    4550           34563        MODE2CHK           CAF      82DEGS                                #  MODE 2 IS DEFINED AS
023589,001333:    4551           60062                           AD       ITEMP2                                #      1. ABS(T) G 125 DEGS.
023590,001334:    4552           04512                           TC       MAGSUB                                #      2. ABS(S + 82 DEGS) L 57 DEGS
023591,001335:    4553           65673                           DEC      -.31667                               #          (SHAFT LIMITS AT -25, -139 DEGS)
023592,001336:    4554           00001                           TC       L                                     
023593,001337: 
023594,001338:    4555           30061                           CA       ITEMP1                                
023595,001339:    4556           04512                           TC       MAGSUB                                
023596,001340:    4557           51615                           DEC      -.69444                               #  125 DEGS
023597,001341: 
023598,001342:    4560           50001        RRLIMOK            INDEX    L                                     
023599,001343:    4561           00001                           TC       L                                     #  ( = TC 1 )
023600,001344: 
023601,001345:    4562           00765        5.5DEGS            DEC      .03056                                
023602,001346:    4563           16450        82DEGS             DEC      .45556                                
023603,001347: 

Page 535

023605,001349:                                                                                                  #  PROGRAM NAME_  SETTRKF                                                  . IF EITHER:
023606,001350: 
023607,001351:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023608,001352:                                                                                                  #  SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY.                      HER THE ALT OR VEL INFORMATION.
023609,001353:                                                                                                  #  INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023610,001354:                                                                                                  #  IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023611,001355:                                                                                                  #  IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023612,001356:                                                                                                  #  1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023613,001357:                                                                                                  #  AUTO MODE (RADMODES BITS 13, 7, 2).
023614,001358:                                                                                                  #  2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023615,001359:                                                                                                  #  8,5)
023616,001360:                                                                                                  #  3) NO RR DATA (RADMODES BIT 4)
023617,001361:                                                                                                  #  THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023618,001362:                                                                                                  #  IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023619,001363:                                                                                                  #  LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023620,001364:                                                                                                  #  THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023621,001365:                                                                                                  #  TRACKER FAIL LAMP IS TURNED ON IF_
023622,001366:                                                                                                  #  A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023623,001367:                                                                                                  #  B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023624,001368:                                                                                                  #  EITHER THE ALT OR VEL INFORMATION
023625,001369:                                                                                                  #  C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023626,001370:                                                                                                  #  WITH EITHER THE AL
023627,001371: 
023628,001372:                                                                                                  #  CALLING SEQUENCE:
023629,001373:                                                                                                  #  L  TC  SETTRKF
023630,001374: 
023631,001375:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023632,001376:                                                                                                  #  SUBROUTINES CALLED_  NONE
023633,001377: 
023634,001378:                                                                                                  #  JOBS OR TASKS INITIATED_  NONE
023635,001379: 
023636,001380:                                                                                                  #  ALARMS_  TRACKER FAIL LAMP
023637,001381: 
023638,001382:                                                                                                  #  EXIT_  L +1 (ALWAYS)                                                    ED.
023639,001383: 
023640,001384:    4564           34753        SETTRKF            CAF      BIT1                                  #  NO ACTION IF DURING LAMP TEST.
023641,001385:    4565           71303                           MASK     IMODES33                              
023642,001386:    4566           10000                           CCS      A                                     
023643,001387:    4567           00002                           TC       Q                                     
023644,001388: 
023645,001389:    4570           34744        RRTRKF             CA       BIT8                                  
023646,001390:    4571           54001                           TS       L                                     
023647,001391: 
023648,001392:    4572           34615                           CAF      13,7,2                                #  SEE IF CDU FAILED.
023649,001393:    4573           70110                           MASK     RADMODES                              
023650,001394:    4574           00006                           EXTEND                                         
023651,001395:    4575           14601                           BZF      TRKFLON                               #  CONDITION 3 ABOVE.
023652,001396: 
023653,001397:    4576           34750        RRCHECK            CAF      BIT4                                  #  SEE IF RR DATA FAILED.
023654,001398:    4577           70110                           MASK     RADMODES                              
023655,001399: 

Page 536

023657,001401:    4600           10000                           CCS      A                                     
023658,001402:    4601           30001        TRKFLON            CA       L                                     
023659,001403:    4602           61036                           AD       DSPTAB     +11D                       #  HALF ADD DESIRED AND PRESENT STATES.
023660,001404:    4603           70001                           MASK     L                                     
023661,001405:    4604           00006                           EXTEND                                         
023662,001406:    4605           16741                           BZF      TCQ                                   #  NO CHANGE.
023663,001407: 
023664,001408:    4606           31036        FLIP               CA       DSPTAB     +11D                       #  CANT USE LXCH DSPTAB +11D (RESTART PROB)
023665,001409:    4607           00006                           EXTEND                                         
023666,001410:    4610           06001                           RXOR     LCHAN                                 
023667,001411:    4611           74733                           MASK     POSMAX                                
023668,001412:    4612           64735                           AD       BIT15                                 
023669,001413:    4613           55036                           TS       DSPTAB     +11D                       
023670,001414:    4614           00002                           TC       Q                                     
023671,001415: 
023672,001416:    4615           10102        13,7,2             OCT      10102                                 
023673,001417:    4616                        ENDRMODF           EQUALS                                         
023674,001418: 

Page 537

023676,001420:                                                                                                  #  PROGRAM NAME_  RRTURNON
023677,001421: 
023678,001422:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023679,001423: 
023680,001424:                                                                                                  #  RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023681,001425:                                                                                                  #  RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023682,001426:                                                                                                  #  INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023683,001427:                                                                                                  #  ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023684,001428:                                                                                                  #  WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023685,001429:                                                                                                  #  (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023686,001430:                                                                                                  #  INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023687,001431:                                                                                                  #  TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023688,001432:                                                                                                  #  SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023689,001433:                                                                                                  #  FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023690,001434:                                                                                                  #  RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023691,001435:                                                                                                  #  TO TASKOVER.
023692,001436: 
023693,001437:                                                                                                  #  CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023694,001438:                                                                                                  #  BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023695,001439:                                                                                                  #  THE RR (STATE BIT 7).
023696,001440: 
023697,001441:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023698,001442:                                                                                                  #  RADMODES, STATE
023699,001443: 
023700,001444:                                                                                                  #  SUBROUTINES CALLED_  RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023701,001445: 
023702,001446:                                                                                                  #  JOBS OR TASKS INITIATED_
023703,001447:                                                                                                  #  NONE
023704,001448: 
023705,001449:                                                                                                  #  ALARMS_  NONE (SEE RRZEROSB)
023706,001450: 
023707,001451:                                                                                                  #  EXIT_  TASKOVER, ENDRADAR (WAITING PROGRAM)
023708,001452: 
023709,001453: 24,3151                                           BANK     24                                    
023710,001454: 25,2000                                           SETLOC   P20S1                                 
023711,001455: 25,2000                                           BANK                                           
023712,001456: 
023713,001457: 25,2062  E7,1454                                  EBANK=   LOSCOUNT                              
023714,001458: 25,2062                                           COUNT*   $$/RSUB                               
023715,001459: 25,2062           02071        RRTURNON           TC       RRZEROSB                              
023716,001460: 25,2063           05221                           TC       FIXDELAY                              #  WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023717,001461: 25,2064           00144                           DEC      100        B-14                       #  SO A MONITOR REPOSITION WONT ALARM.
023718,001462: 25,2065           44753                           CS       BIT1                                  
023719,001463: 25,2066           70110                           MASK     RADMODES                              
023720,001464: 25,2067           54110                           TS       RADMODES                              
023721,001465: 25,2070           15261                           TCF      TASKOVER                              
023722,001466: 

Page 538

023724,001468:                                                                                                  #  PROGRAM NAME_  RRZEROSB
023725,001469: 
023726,001470:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023727,001471:                                                                                                  #  RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023728,001472:                                                                                                  #  DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023729,001473:                                                                                                  #  LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023730,001474:                                                                                                  #  BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023731,001475:                                                                                                  #  RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023732,001476:                                                                                                  #  WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023733,001477:                                                                                                  #  REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023734,001478:                                                                                                  #  TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023735,001479:                                                                                                  #  RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023736,001480:                                                                                                  #  CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023737,001481:                                                                                                  #  ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023738,001482:                                                                                                  #  RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023739,001483:                                                                                                  #  IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023740,001484:                                                                                                  #  INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023741,001485:                                                                                                  #  SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023742,001486: 
023743,001487:                                                                                                  #  CALLING SEQUENCE: L  TC  RRZEROSB (FROM RRTURNON AND RRZERO)
023744,001488:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023745,001489:                                                                                                  #  RADMODES (BIT 13 SET), DSPTAB +11D
023746,001490: 
023747,001491:                                                                                                  #  SUBROUTINES CALLED_  FIXDELAY, MAGSUB, SETTRKF
023748,001492: 
023749,001493:                                                                                                  #  JOBS OR TASKS INITIATED_
023750,001494:                                                                                                  #  NONE
023751,001495: 
023752,001496:                                                                                                  #  ALARMS_  TRACKER FAIL
023753,001497: 
023754,001498:                                                                                                  #  EXIT_  L +1 (ALWAYS)
023755,001499: 
023756,001500: 25,2071           00006        RRZEROSB           EXTEND                                         
023757,001501: 25,2072           23315                           QXCH     RRRET                                 
023758,001502: 25,2073           34753                           CAF      BIT1                                  #  BIT 13 OF RADMODES MUST BE SET BEFORE
023759,001503: 25,2074           00006                           EXTEND                                         #  COMING HERE.
023760,001504: 25,2075           05012                           WOR      CHAN12                                #  TURN ON ZERO RR CDU
023761,001505: 25,2076           05221                           TC       FIXDELAY                              
023762,001506: 25,2077           00002                           DEC      2          B-14                       
023763,001507: 
023764,001508: 25,2100           34755                           CAF      ZERO                                  
023765,001509: 25,2101           54035                           TS       CDUT                                  
023766,001510: 25,2102           54036                           TS       CDUS                                  
023767,001511: 25,2103           44753                           CS       ONE                                   #  REMOVE ZEROING BIT.
023768,001512: 25,2104           00006                           EXTEND                                         
023769,001513: 25,2105           03012                           WAND     CHAN12                                
023770,001514: 25,2106           05221                           TC       FIXDELAY                              
023771,001515: 25,2107           01750                           DEC      1000       B-14                       #  RESET FAIL INHIBIT IN 10 SECS - D.281
023772,001516: 
023773,001517: 25,2110           44737                           CS       BIT13                                 #  REMOVE ZEROING IN PROCESS BIT.
023774,001518: 

Page 539

023776,001520: 25,2111           70110                           MASK     RADMODES                              
023777,001521: 25,2112           54110                           TS       RADMODES                              
023778,001522: 
023779,001523: 25,2113           30035                           CA       CDUT                                  
023780,001524: 25,2114           04512                           TC       MAGSUB                                
023781,001525: 25,2115           57777                           DEC      -.5                                   
023782,001526: 25,2116           12121                           TCF      +3                                    #  IF MODE 2.
023783,001527: 
023784,001528: 25,2117           34755                           CAF      ZERO                                  
023785,001529: 25,2120           12122                           TCF      +2                                    
023786,001530: 25,2121           34740                           CAF      ANTENBIT                              
023787,001531: 25,2122           56110                           XCH      RADMODES                              
023788,001532: 25,2123           77740                           MASK     -BIT12                                
023789,001533: 25,2124           26110                           ADS      RADMODES                              
023790,001534: 
023791,001535: 25,2125           04564                           TC       SETTRKF                               #  TRACKER LAMP MIGHT GO ON NOW.
023792,001536: 
023793,001537: 25,2126           01315                           TC       RRRET                                 #  DONE.
023794,001538: 
023795,001539: 25,2127     7740               -BIT12             EQUALS   -1/8                                  #  IN SPROOT
023796,001540: 

Page 540

023798,001542:                                                                                                  #  PROGRAM NAME_  DORREPOS
023799,001543:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023800,001544:                                                                                                  #  DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023801,001545:                                                                                                  #  TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023802,001546:                                                                                                  #  ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023803,001547:                                                                                                  #  AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023804,001548:                                                                                                  #  DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023805,001549:                                                                                                  #  TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023806,001550:                                                                                                  #  PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023807,001551:                                                                                                  #  CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023808,001552:                                                                                                  #  RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023809,001553:                                                                                                  #  TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023810,001554:                                                                                                  #  DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023811,001555:                                                                                                  #  MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023812,001556:                                                                                                  #  CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023813,001557:                                                                                                  #  -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023814,001558:                                                                                                  #  REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023815,001559:                                                                                                  #  FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023816,001560:                                                                                                  #  REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023817,001561:                                                                                                  #  REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023818,001562:                                                                                                  #  BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023819,001563:                                                                                                  #  INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023820,001564:                                                                                                  #  COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023821,001565:                                                                                                  #  TASKOVER.
023822,001566: 
023823,001567:                                                                                                  #  CALLING SEQUENCE:
023824,001568:                                                                                                  #  WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023825,001569:                                                                                                  #  NOT WITHIN LIMITS OF CURRENT MODE.
023826,001570: 
023827,001571:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023828,001572:                                                                                                  #  RADMODES
023829,001573: 
023830,001574:                                                                                                  #  SUBROUTINES CALLED_
023831,001575:                                                                                                  #  RRTONLY, RRSONLY, BEGDES (EXIT)
023832,001576: 
023833,001577:                                                                                                  #  JOBS OR TASKS INITIATED_
023834,001578:                                                                                                  #  NONE
023835,001579: 
023836,001580:                                                                                                  #  ALARMS-  NONE
023837,001581: 
023838,001582:                                                                                                  #  EXIT_  TASKOVER, BEGDES
023839,001583: 
023840,001584: 25,2127           02156        DORREPOS           TC       SETRRECR                              #  SET UP RR CDU ERROR COUNTERS.
023841,001585: 
023842,001586:                                                                                                  #  ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023843,001587: 
023844,001588: 25,2130           05221                           TC       FIXDELAY                              
023845,001589: 25,2131           00002                           DEC      2          B-14                       
023846,001590: 
023847,001591: 25,2132           34740                           CAF      BIT12                                 #  MANEUVER TRUNNION ANGLE TO NOMINAL POS.
023848,001592: 

Page 541

023850,001594: 25,2133           70110                           MASK     RADMODES                              
023851,001595: 25,2134           10000                           CCS      A                                     
023852,001596: 25,2135           34735                           CAF      BIT15                                 #  0 FOR MODE 1 AND 180 FOR MODE 2.
023853,001597: 25,2136           02241                           TC       RRTONLY                               
023854,001598: 
023855,001599: 25,2137           34740                           CAF      BIT12                                 #  NOW PUT SHAFT IN RIGHT POSITION.
023856,001600: 25,2140           70110                           MASK     RADMODES                              
023857,001601: 25,2141           10000                           CCS      A                                     
023858,001602: 25,2142           44736                           CS       HALF                                  #  -90 FOR MODE 2.
023859,001603: 25,2143           02244                           TC       RRSONLY                               
023860,001604: 
023861,001605: 25,2144           44741        REPOSRPT           CS       REPOSBIT                              #  RETURNS HERE FROM RR1AXIS IF REMODE
023862,001606:                                                                                                  #  REQUESTED DURING REPOSITION.
023863,001607: 25,2145           70110                           MASK     RADMODES                              #  REMOVE REPOSITION BIT.
023864,001608: 25,2146           54110                           TS       RADMODES                              
023865,001609: 25,2147           74742                           MASK     BIT10                                 #  SEE IF SOMEONE IS WAITING TO DESIGNATE.
023866,001610: 25,2150           10000                           CCS      A                                     
023867,001611: 25,2151           12573                           TCF      BEGDES                                
023868,001612: 25,2152           44752                           CS       BIT2                                  #  IF NO FURTHER ANTENNA CONTROL REQUIRED,
023869,001613: 25,2153           00006                           EXTEND                                         #  REMOVE ERROR COUNTER ENABLE.
023870,001614: 25,2154           03012                           WAND     CHAN12                                
023871,001615: 25,2155           15261                           TCF      TASKOVER                              
023872,001616: 
023873,001617: 25,2156           34752        SETRRECR           CAF      BIT2                                  #  SET UP RR ERROR COUNTERS.
023874,001618: 25,2157           00006                           EXTEND                                         
023875,001619: 25,2160           02012                           RAND     CHAN12                                
023876,001620: 25,2161           10000                           CCS      A                                     #  DO NOT CLEAR LAST COMMAND IF
023877,001621: 25,2162           00002                           TC       Q                                     #  ERROR COUNTERS ARE ENABLED.
023878,001622: 
023879,001623: 25,2163           54112                           TS       LASTYCMD                              
023880,001624: 25,2164           54113                           TS       LASTXCMD                              
023881,001625: 25,2165           34752                           CAF      BIT2                                  
023882,001626: 25,2166           00006                           EXTEND                                         
023883,001627: 25,2167           05012                           WOR      CHAN12                                #  ENABLE RR CDU ERROR COUNTERS.
023884,001628: 25,2170           00002                           TC       Q                                     
023885,001629: 

Page 542

023887,001631:                                                                                                  #  PROGRAM NAME_  REMODE                                                   IVES SHAFT TO -45, AND FINALLY DRIVES
023888,001632: 
023889,001633:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                 S DONE WITH SINGLE AXIS ROTATIONS (SEE
023890,001634:                                                                                                  #  REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023891,001635:                                                                                                  #  TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023892,001636:                                                                                                  #  180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023893,001637:                                                                                                  #  DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023894,001638:                                                                                                  #  TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023895,001639:                                                                                                  #  INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023896,001640:                                                                                                  #  AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023897,001641:                                                                                                  #  (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023898,001642:                                                                                                  #  RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023899,001643:                                                                                                  #  OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023900,001644:                                                                                                  #  THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023901,001645:                                                                                                  #  (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023902,001646:                                                                                                  #  TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023903,001647:                                                                                                  #  DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023904,001648:                                                                                                  #  -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023905,001649:                                                                                                  #  IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023906,001650:                                                                                                  #  RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023907,001651:                                                                                                  #  IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023908,001652:                                                                                                  #  THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023909,001653: 
023910,001654:                                                                                                  #  CALLING SEQUENCE:
023911,001655:                                                                                                  #  FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023912,001656:                                                                                                  #  THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023913,001657:                                                                                                  #  DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023914,001658:                                                                                                  #  OTHER MODE.
023915,001659: 
023916,001660:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
023917,001661:                                                                                                  #  RADMODES
023918,001662: 
023919,001663:                                                                                                  #  SUBROUTINES CALLED_
023920,001664:                                                                                                  #  RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023921,001665: 
023922,001666:                                                                                                  #  JOBS OR TASKS INITIATED_
023923,001667:                                                                                                  #  NONE
023924,001668: 
023925,001669:                                                                                                  #  ALARMS_  NONE
023926,001670: 
023927,001671:                                                                                                  #  EXIT_  STDESIG
023928,001672: 
023929,001673: 25,2171           34740        REMODE             CAF      BIT12                                 #  DRIVE TRUNNION TO 0 (180).
023930,001674: 25,2172           70110                           MASK     RADMODES                              #  (ERROR COUNTER ALREADY ENABLED)
023931,001675: 25,2173           10000                           CCS      A                                     
023932,001676: 25,2174           34735                           CAF      BIT15                                 
023933,001677: 25,2175           02241                           TC       RRTONLY                               
023934,001678: 
023935,001679: 25,2176           37737                           CAF      -45DEGSR                              
023936,001680: 25,2177           02244                           TC       RRSONLY                               
023937,001681: 

Page 543

023939,001683: 25,2200           40110                           CS       RADMODES                              
023940,001684: 25,2201           74740                           MASK     BIT12                                 
023941,001685: 25,2202           10000                           CCS      A                                     
023942,001686: 25,2203           32232                           CAF      -80DEGSR                              #  GO TO T = -130 (-50).
023943,001687: 25,2204           62231                           AD       -50DEGSR                              
023944,001688: 25,2205           02241                           TC       RRTONLY                               
023945,001689: 
023946,001690: 25,2206           40110                           CS       RADMODES                              
023947,001691: 25,2207           74740                           MASK     BIT12                                 
023948,001692: 25,2210           10000                           CCS      A                                     
023949,001693: 25,2211           34735                           CAF      BIT15                                 #  GO TO T = -180 (+0).
023950,001694: 25,2212           02241                           TC       RRTONLY                               
023951,001695: 
023952,001696: 25,2213           40110                           CS       RADMODES                              #  GO TO S = -90 (+0).
023953,001697: 25,2214           74740                           MASK     BIT12                                 
023954,001698: 25,2215           10000                           CCS      A                                     
023955,001699: 25,2216           44736                           CS       HALF                                  
023956,001700: 25,2217           02244                           TC       RRSONLY                               
023957,001701: 
023958,001702: 25,2220           02233                           TC       RMODINV                               
023959,001703: 
023960,001704: 25,2221           44736                           CS       BIT14                                 #  END OF REMODE.
023961,001705: 25,2222           70110                           MASK     RADMODES                              
023962,001706: 25,2223           54110                           TS       RADMODES                              
023963,001707: 
023964,001708: 25,2224           34742                           CAF      BIT10                                 #  WAS REMODE CALLED DURING DESIGNATE
023965,001709: 25,2225           70110                           MASK     RADMODES                              #  (BIT10 RADMODES = 1)
023966,001710: 25,2226           00006                           EXTEND                                         
023967,001711: 25,2227           13555                           BZF      RGOODEND                              #  NO-RETURN TO CALLER WAITING IN RADSTALL
023968,001712: 25,2230           02602                           TC       STDESIG                               #  YES - RETURN TO DESIGNATE
023969,001713: 25,2231     7737               -45DEGSR           =        13,14,15                              
023970,001714: 25,2231           67070        -50DEGSR           DEC      -.27778                               
023971,001715: 25,2232           61615        -80DEGSR           DEC      -.44444                               
023972,001716: 
023973,001717: 25,2233           22110        RMODINV            LXCH     RADMODES                              #  INVERT THE MODE STATUS.
023974,001718: 25,2234           34740                           CAF      BIT12                                 
023975,001719: 25,2235           00006                           EXTEND                                         
023976,001720: 25,2236           06001                           RXOR     LCHAN                                 
023977,001721: 25,2237           54110                           TS       RADMODES                              
023978,001722: 25,2240           00002                           TC       Q                                     
023979,001723: 

Page 544

023981,001725:                                                                                                  #  PROGRAM NAMES_  RRTONLY, RRSONLY
023982,001726: 
023983,001727:                                                                                                  #  FUNCTIONAL DESCRIPTION_
023984,001728:                                                                                                  #  RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023985,001729:                                                                                                  #  RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023986,001730:                                                                                                  #  WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023987,001731:                                                                                                  #  FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023988,001732:                                                                                                  #  THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023989,001733:                                                                                                  #  THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023990,001734:                                                                                                  #  WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023991,001735:                                                                                                  #  REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023992,001736:                                                                                                  #  OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023993,001737:                                                                                                  #  IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023994,001738:                                                                                                  #  CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023995,001739:                                                                                                  #  TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023996,001740:                                                                                                  #  ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023997,001741:                                                                                                  #  REPEATED.
023998,001742: 
023999,001743:                                                                                                  #  CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
024000,001744:                                                                                                  #  L  TC  RRTONLY (TRUNNION ONLY)
024001,001745:                                                                                                  #  RRSONLY (SHAFT ONLY)
024002,001746:                                                                                                  #  RRTONLY IS CALLED BY PREPOS29;
024003,001747:                                                                                                  #  RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
024004,001748: 
024005,001749:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024006,001750:                                                                                                  #  C(A) = DESIRED ANGLE, RADMODES
024007,001751: 
024008,001752:                                                                                                  #  SUBROUTINES CALLED_
024009,001753:                                                                                                  #  FIXDELAY, REPOSRPT, MAGSUB, RROUT
024010,001754: 
024011,001755:                                                                                                  #  JOBS OR TASKS INITIATED_
024012,001756:                                                                                                  #  NONE
024013,001757: 
024014,001758:                                                                                                  #  ALARMS_  NONE
024015,001759: 
024016,001760:                                                                                                  #  EXIT_  REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
024017,001761:                                                                                                  #  BITS 14, 11)
024018,001762:                                                                                                  #  L+1  (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
024019,001763: 
024020,001764: 25,2241           55316        RRTONLY            TS       RDES                                  #  DESIRED TRUNION ANGLE.
024021,001765: 25,2242           34755                           CAF      ZERO                                  
024022,001766: 25,2243           12246                           TCF      RR1AXIS                               
024023,001767: 
024024,001768: 25,2244           55316        RRSONLY            TS       RDES                                  #  SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
024025,001769: 25,2245           34753                           CAF      ONE                                   #  ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
024026,001770: 
024027,001771: 25,2246           55317        RR1AXIS            TS       RRINDEX                               
024028,001772: 25,2247           00006                           EXTEND                                         
024029,001773: 25,2250           23315                           QXCH     RRRET                                 
024030,001774: 25,2251           12254                           TCF      RR1AX2                                
024031,001775: 

Page 545

024033,001777: 25,2252           05221        NXTRR1AX           TC       FIXDELAY                              
024034,001778: 25,2253           00062                           DEC      50         B-14                       #  2 SAMPLES PER SECOND.
024035,001779: 
024036,001780: 25,2254           40110        RR1AX2             CS       RADMODES                              #  IF SOMEONE REQUESTES AS DESIGNATE WHICH
024037,001781: 25,2255           77707                           MASK     PRIO22                                #  REQUIRES A REMODE AND A REPOSITION IS IN
024038,001782: 25,2256           00006                           EXTEND                                         #  PROGRESS, INTERRUPT IT AND START THE
024039,001783: 25,2257           12144                           BZF      REPOSRPT                              #  REMODE IMMEDIATELY.
024040,001784: 
024041,001785: 25,2260           31316                           CA       RDES                                  
024042,001786: 25,2261           00006                           EXTEND                                         
024043,001787: 25,2262           51317                           INDEX    RRINDEX                               
024044,001788: 25,2263           20035                           MSU      CDUT                                  
024045,001789: 25,2264           54061                           TS       ITEMP1                                #  SAVE ERROR SIGNAL.
024046,001790: 25,2265           00006                           EXTEND                                         
024047,001791: 25,2266           72305                           MP       RRSPGAIN                              #  TRIES TO NULL .7 OF ERROR OVER NEXT .5
024048,001792: 25,2267           54001                           TS       L                                     
024049,001793: 25,2270           30110                           CA       RADMODES                              
024050,001794: 25,2271           74752                           MASK     AUTOMBIT                              
024051,001795: 25,2272           56061                           XCH      ITEMP1                                #  STORE RR-OUT-OF-AUTO-MODE BIT.
024052,001796: 25,2273           04512                           TC       MAGSUB                                #  SEE IF WITHIN ONE DEGREE.
024053,001797: 25,2274           77644                           DEC      -.00555                               #  SCALED IN HALF-REVS.
024054,001798: 
024055,001799: 25,2275           10061                           CCS      ITEMP1                                #  NO.  IF RR OUT OF AUTO MODE, EXIT.
024056,001800: 25,2276           01315                           TC       RRRET                                 #  RETURN TO CALLER.
024057,001801: 
024058,001802: 25,2277           11317                           CCS      RRINDEX                               #  COMMAND FOR OTHER AXIS IS ZERO.
024059,001803: 25,2300           12302                           TCF      +2                                    #  SETTING A TO 0.
024060,001804: 25,2301           56001                           XCH      L                                     
024061,001805: 25,2302           53110                           DXCH     TANG                                  
024062,001806: 
024063,001807: 25,2303           02306                           TC       RROUT                                 
024064,001808: 
024065,001809: 25,2304           12252                           TCF      NXTRR1AX                              #  COME BACK IN .5 SECONDS.
024066,001810: 
024067,001811: 25,2305           22715        RRSPGAIN           DEC      .59062                                #  NULL .7 ERROR IN .5 SEC.
024068,001812: 

Page 546

024070,001814:                                                                                                  #  PROGRAM NAME_  RROUT                                                    RROR COUNTER SCALING. RROUT LIMITS THEM
024071,001815: 
024072,001816:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024073,001817:                                                                                                  #  RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
024074,001818:                                                                                                  #  ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
024075,001819:                                                                                                  #  GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
024076,001820:                                                                                                  #  TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
024077,001821:                                                                                                  #  THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
024078,001822:                                                                                                  #  384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
024079,001823:                                                                                                  #  LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
024080,001824:                                                                                                  #  THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
024081,001825:                                                                                                  #  THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
024082,001826:                                                                                                  #  THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
024083,001827:                                                                                                  #  PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
024084,001828:                                                                                                  #  OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
024085,001829:                                                                                                  #  ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
024086,001830: 
024087,001831:                                                                                                  #  CALLING SEQUENCE:
024088,001832:                                                                                                  #  L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
024089,001833:                                                                                                  #  RRTONLY, RRSONLY, AND DODES
024090,001834: 
024091,001835:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024092,001836:                                                                                                  #  TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
024093,001837:                                                                                                  #  (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
024094,001838: 
024095,001839:                                                                                                  #  SUBROUTINES CALLED_
024096,001840:                                                                                                  #  MAGSUB
024097,001841: 
024098,001842:                                                                                                  #  JOBS OR TASKS INITIATED_
024099,001843:                                                                                                  #  NONE
024100,001844: 
024101,001845:                                                                                                  #  ALARMS_  NONE
024102,001846: 
024103,001847:                                                                                                  #  EXIT_  L+1 (ALWAYS)                                                     SIRED VALUES. RUPT MUST BE INHIBITED.
024104,001848: 
024105,001849: 25,2306           22002        RROUT              LXCH     Q                                     #  SAVE RETURN.
024106,001850: 25,2307           34753                           CAF      ONE                                   #  LOOP TWICE.
024107,001851: 25,2310           54062        RROUT2             TS       ITEMP2                                
024108,001852: 25,2311           50000                           INDEX    A                                     
024109,001853: 25,2312           31107                           CA       TANG                                  
024110,001854: 25,2313           54061                           TS       ITEMP1                                #  SAVE SIGN OF COMMAND FOR LIMITING.
024111,001855: 
024112,001856: 25,2314           04512                           TC       MAGSUB                                #  SEE IF WITHIN LMITS.
024113,001857: 25,2315           77177        -RRLIMIT           DEC      -384       B-14                       
024114,001858: 25,2316           12335                           TCF      RROUTLIM                              #  LIMIT COMMAND TO MAG OF 384.
024115,001859: 
024116,001860: 25,2317           30061        SETRRCTR           CA       ITEMP1                                #  COUNT OUT DIFFERENCE BETWEEN DESIRED
024117,001861: 25,2320           50062                           INDEX    ITEMP2                                #  STATE AND PRESENT STATE AS RECORDED IN
024118,001862: 25,2321           56112                           XCH      LASTYCMD                              #  LASTYCMD AND LASTXCMD
024119,001863: 25,2322           40000                           COM                                            
024120,001864: 

Page 547

024122,001866: 25,2323           60061                           AD       ITEMP1                                
024123,001867: 25,2324           64754                           AD       NEG0                                  #  PREVENT +0 IN OUTCOUNTER
024124,001868: 25,2325           50062                           INDEX    ITEMP2                                
024125,001869: 25,2326           54053                           TS       CDUTCMD                               
024126,001870: 
024127,001871: 25,2327           10062                           CCS      ITEMP2                                #  PROCESS BOTH INPUTS.
024128,001872: 25,2330           12310                           TCF      RROUT2                                
024129,001873: 
024130,001874: 25,2331           35020                           CAF      PRIO6                                 #  ENABLE COUNTERS.
024131,001875: 25,2332           00006                           EXTEND                                         
024132,001876: 25,2333           05014                           WOR      CHAN14                                #  PUT ON CDU DRIVES S AND T
024133,001877: 25,2334           00001                           TC       L                                     #  RETURN.
024134,001878: 
024135,001879: 25,2335           10061        RROUTLIM           CCS      ITEMP1                                #  LIMIT COMMAND TO ABS VAL OF 384.
024136,001880: 25,2336           42315                           CS       -RRLIMIT                              
024137,001881: 25,2337           12341                           TCF      +2                                    
024138,001882: 25,2340           32315                           CA       -RRLIMIT                              
024139,001883: 25,2341           54061                           TS       ITEMP1                                
024140,001884: 25,2342           12320                           TCF      SETRRCTR   +1                         
024141,001885: 

Page 548

024143,001887:                                                                                                  #           ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
024144,001888: 
024145,001889: 25,2343           32372        RRZERO             CAF      BIT11+1                               #  SEE IF MONITOR REPOSITION OR NOT IN AUTO
024146,001890: 25,2344           70110                           MASK     RADMODES                              #  IF SO, DONT RE-ZERO CDUS.
024147,001891: 25,2345           10000                           CCS      A                                     
024148,001892: 25,2346           13530                           TCF      RADNOOP                               #  (IMMEDIATE TASK TO RGOODEND).
024149,001893: 
024150,001894: 25,2347           00004                           INHINT                                         
024151,001895: 25,2350           44737                           CS       BIT13                                 #  SET FLAG TO SHOW ZEROING IN PROGRESS.
024152,001896: 25,2351           70110                           MASK     RADMODES                              
024153,001897: 25,2352           64737                           AD       BIT13                                 
024154,001898: 25,2353           54110                           TS       RADMODES                              
024155,001899: 
024156,001900: 25,2354           34753                           CAF      ONE                                   
024157,001901: 25,2355           05203                           TC       WAITLIST                              
024158,001902: 25,2356  E7,1454                                  EBANK=   LOSCOUNT                              
024159,001903: 25,2356           02370 52067                     2CADR    RRZ2                                  
024160,001904: 
024161,001905: 25,2360           40110                           CS       RADMODES                              #  SEE IF IN AUTO MODE.
024162,001906: 25,2361           74752                           MASK     BIT2                                  
024163,001907: 25,2362           10000                           CCS      A                                     
024164,001908: 25,2363           12366                           TCF      ROADBACK                              
024165,001909: 25,2364           05567                           TC       ALARM                                 #  AUTO DISCRETE NOT PRESENT - TRYING
024166,001910: 25,2365           00510                           OCT      510                                   
024167,001911: 25,2366           00003        ROADBACK           RELINT                                         
024168,001912: 25,2367           14631                           TCF      SWRETURN                              
024169,001913: 
024170,001914: 25,2370           02071        RRZ2               TC       RRZEROSB                              #  COMMON TO TURNON AND RRZERO.
024171,001915: 25,2371           13546                           TCF      ENDRADAR                              
024172,001916: 
024173,001917: 25,2372           02001        BIT11+1            OCT      02001                                 
024174,001918: 

Page 549

024176,001920:                                                                                                  #  PROGRAM NAME_  RRDESSM                                                  R (HALF-UNIT) IN RRTARGET. REMODES IF
024177,001921: 
024178,001922:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024179,001923:                                                                                                  #  THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
024180,001924:                                                                                                  #  WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
024181,001925:                                                                                                  #  (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
024182,001926:                                                                                                  #  ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
024183,001927:                                                                                                  #  TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
024184,001928:                                                                                                  #  MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
024185,001929:                                                                                                  #  RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
024186,001930:                                                                                                  #  TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
024187,001931:                                                                                                  #  RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
024188,001932:                                                                                                  #  PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
024189,001933:                                                                                                  #  LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
024190,001934:                                                                                                  #  REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
024191,001935:                                                                                                  #  CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
024192,001936:                                                                                                  #  ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
024193,001937:                                                                                                  #  TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
024194,001938:                                                                                                  #  LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
024195,001939:                                                                                                  #  THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
024196,001940:                                                                                                  #  INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
024197,001941:                                                                                                  #  EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
024198,001942:                                                                                                  #  OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
024199,001943:                                                                                                  #  BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
024200,001944:                                                                                                  #  TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
024201,001945: 
024202,001946:                                                                                                  #  CALLING SEQUENCE:
024203,001947:                                                                                                  #  L  STCALL  RRTARGET  (LOS HALF-UNIT VECTOR IN SM COORDINATES)
024204,001948:                                                                                                  #  L+1  RRDESSM
024205,001949:                                                                                                  #  L+2  BASIC  (VEHICLE MANEUVER REQUIRED)
024206,001950:                                                                                                  #  L+3  BASIC  (NO VEHICLE MANEUVER REQUIRED)
024207,001951: 
024208,001952:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024209,001953:                                                                                                  #  RRTARGET, RADMODES
024210,001954: 
024211,001955:                                                                                                  #  SUBROUTINES CALLED_
024212,001956:                                                                                                  #  READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
024213,001957:                                                                                                  #  PART OF), RMODINV
024214,001958: 
024215,001959:                                                                                                  #  JOBS OR TASKS INITIATED_
024216,001960:                                                                                                  #     NONE
024217,001961: 
024218,001962:                                                                                                  #  ALARMS_  NONE
024219,001963: 
024220,001964:                                                                                                  #  EXIT_  L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
024221,001965:                                                                                                  #  STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
024222,001966:                                                                                                  #  TO L+3 FROM STARTDES)                                                   CAN BE DONE IN PRESENT VEH ATTITUDE.
024223,001967: 
024224,001968: 25,2373           43020        RRDESSM            STQ      CLEAR                                 
024225,001969: 25,2374           01113                                    DESRET                                

Page 550

024227,001971: 25,2375           00271                                    RRNBSW                                
024228,001972: 25,2376           77624                           CALL                                           #  COMPUTES SINES AND COSINES, ORDER Y Z X
024229,001973: 25,2377           47443                                    CDUTRIG                               
024230,001974: 25,2400           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
024231,001975: 25,2401           01102                                    RRTARGET                              
024232,001976: 25,2402           47575                                    *SMNB*                                
024233,001977: 
024234,001978: 25,2403           77624                           CALL                                           #  GET RR GIMBAL ANGLES IN PRESENT AND
024235,001979: 25,2404           26133                                    RRANGLES                              #  ALTERNATE MODE.
024236,001980: 25,2405           77776                           EXIT                                           
024237,001981: 
024238,001982: 25,2406           00004                           INHINT                                         
024239,001983: 25,2407           04523                           TC       RRLIMCHK                              
024240,001984: 25,2410           01107                           ADRES    MODEA                                 #  CONFIGURATION FOR CURRENT MODE.
024241,001985: 25,2411           02414                           TC       +3                                    #  NOT IN CURRENT MODE
024242,001986: 25,2412           25113        OKDESSM            INCR     DESRET                                #  INCREMENT SAYS NO VEHICLE MANEUVER REQ.
024243,001987: 25,2413           02432                           TC       STARTDES                              #  SHOW DESIGNATE REQUIRED
024244,001988: 25,2414           40104                           CS       FLAGWRD8                              
024245,001989: 25,2415           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
024246,001990: 25,2416           00006                           EXTEND                                         
024247,001991: 25,2417           12456                           BZF      NORDSTAL                              #  BRANCH-YES-CANNOT DESIGNATE IN MODE 2
024248,001992: 25,2420           02461                           TC       TRYSWS                                
024249,001993: 
024250,001994: 
024251,001995: 25,2421           40104        LUNDESCH           CS       FLAGWRD8                              #  OVERFLOW RETURN FROM RRANGLES
024252,001996: 25,2422           74744                           MASK     SURFFBIT                              #  CHECK IF ON LUNAR SURFACE
024253,001997: 25,2423           00006                           EXTEND                                         
024254,001998: 25,2424           12456                           BZF      NORDSTAL                              #  BRANCH-YES-RETURN TO CALLER - ALARM 527
024255,001999: 25,2425           30074                           CA       STATE                                 
024256,002000: 25,2426           74745                           MASK     RNDVZBIT                              
024257,002001: 25,2427           10000                           CCS      A                                     #  TEST RNDVZFLG.
024258,002002: 25,2430           02471                           TC       NODESSM                               #  NOT ON MOON-CALL FOR ATTITUDE MANEUVER
024259,002003: 25,2431           15155                           TCF      ENDOFJOB                              #  ...BUT NOT IN R29.
024260,002004: 

Page 551

024262,002006:                                                                                                  #  PROGRAM NAME_  STARTDES                                                 STORED AS A HALF-UNIT VECTOR IN RRTARGET
024263,002007: 
024264,002008:                                                                                                  #  FUNCTIONAL DESCRIPTION_                                                 CKON IS DESIRED. BIT14 OF RADMODES IS
024265,002009:                                                                                                  #  STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION.             OR REPOSITION OPERATION. IN THIS
024266,002010:                                                                                                  #  BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED.              THE REPOSITION WILL BE INTERRUPTED.
024267,002011:                                                                                                  #  AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION                     GINS.
024268,002012:                                                                                                  #  OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
024269,002013:                                                                                                  #  ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
024270,002014:                                                                                                  #  OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
024271,002015:                                                                                                  #  DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
024272,002016:                                                                                                  #  THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
024273,002017:                                                                                                  #  (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
024274,002018:                                                                                                  #  OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
024275,002019:                                                                                                  #  THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
024276,002020:                                                                                                  #  THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
024277,002021:                                                                                                  #  AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
024278,002022:                                                                                                  #  ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
024279,002023:                                                                                                  #  REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
024280,002024:                                                                                                  #  WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
024281,002025:                                                                                                  #  AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
024282,002026:                                                                                                  #  DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
024283,002027:                                                                                                  #  COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
024284,002028:                                                                                                  #  AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
024285,002029: 
024286,002030:                                                                                                  #  CALLING SEQUENCE:
024287,002031:                                                                                                  #  FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
024288,002032: 
024289,002033:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024290,002034:                                                                                                  #  RADMODES, (SEE DODES)
024291,002035: 
024292,002036:                                                                                                  #  SUBROUTINES CALLED_
024293,002037:                                                                                                  #  SETRRECR, WAITLIST
024294,002038: 
024295,002039:                                                                                                  #  JOBS OR TASKS INITIATED_
024296,002040:                                                                                                  #  BEGDES
024297,002041: 
024298,002042:                                                                                                  #  ALARMS_  NONE
024299,002043: 
024300,002044:                                                                                                  #  EXIT_  L+3 OF CALLING PROGRAM (SEE RRDESSM)
024301,002045:                                                                                                  #  L+2 OF CALLING PROGRAM (SEE RRDESNB)
024302,002046: 
024303,002047: 25,2432           25113        STARTDES           INCR     DESRET                                
024304,002048: 25,2433           40110                           CS       RADMODES                              
024305,002049: 25,2434           74742                           MASK     BIT10                                 
024306,002050: 25,2435           26110                           ADS      RADMODES                              
024307,002051: 25,2436           74741                           MASK     BIT11                                 #  SEE IF REPOSITION IN PROGRESS.
024308,002052: 25,2437           10000                           CCS      A                                     
024309,002053: 25,2440           12446                           TCF      DESRETRN                              #  ECTR ALREADY SET UP.
024310,002054: 
024311,002055: 25,2441           02156                           TC       SETRRECR                              #  SET UP ERROR COUNTERS.

Page 552

024313,002057: 25,2442           34752                           CAF      TWO                                   
024314,002058: 25,2443           05203                           TC       WAITLIST                              
024315,002059: 25,2444  E7,1454                                  EBANK=   LOSCOUNT                              
024316,002060: 25,2444           02573 52067                     2CADR    BEGDES                                
024317,002061: 
024318,002062: 25,2446           31306        DESRETRN           CA       RADCADR                               #  FIRST PASS THRU DESIGNATE
024319,002063: 25,2447           00006                           EXTEND                                         
024320,002064: 25,2450           12452                           BZF      DESRTRN                               #  YES   SET EXIT
024321,002065: 25,2451           05155                           TC       ENDOFJOB                              #  NO
024322,002066: 25,2452           00003        DESRTRN            RELINT                                         
024323,002067: 25,2453           25113                           INCR     DESRET                                
024324,002068: 25,2454           31113                           CA       DESRET                                
024325,002069: 25,2455           14640                           TCF      BANKJUMP                              
024326,002070: 
024327,002071: 25,2456           34755        NORDSTAL           CAF      ZERO                                  #  ZERO RADCADR TO WIPE  OUT ANYONE
024328,002072: 25,2457           55306                           TS       RADCADR                               #  WAITING IN RADSTALL SINCE WE ARE NOW
024329,002073: 25,2460           12452                           TCF      DESRTRN                               #  RETURNING TO P20 AND MAY DO NEW RADSTALL
024330,002074: 

Page 553

024332,002076:                                                                                                  #           SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
024333,002077: 
024334,002078: 25,2461           02233        TRYSWS             TC       RMODINV                               #  (NOTE RUPT INHIBIT)
024335,002079: 25,2462           04523                           TC       RRLIMCHK                              #  TRY DIFFERENT MODE.
024336,002080: 25,2463           01111                           ADRES    MODEB                                 
024337,002081: 25,2464           12471                           TCF      NODESSM                               #  VEHICLE MANEUVER REQUIRED.
024338,002082: 
024339,002083: 25,2465           02233                           TC       RMODINV                               #  RESET BIT12
024340,002084: 25,2466           34736                           CAF      BIT14                                 #  SET FLAG FOR REMODE.
024341,002085: 25,2467           26110                           ADS      RADMODES                              
024342,002086: 
024343,002087: 25,2470           12412                           TCF      OKDESSM                               
024344,002088: 
024345,002089: 25,2471           02233        NODESSM            TC       RMODINV                               #  RE-INVERT MODE AND RETURN
024346,002090: 25,2472           25113                           INCR     DESRET                                #  TO CALLER +2
024347,002091: 25,2473           12456                           TCF      NORDSTAL                              
024348,002092: 
024349,002093: 25,2474           00074        MAXTRYS            DEC      60         B-14                       
024350,002094: 

Page 554

024352,002096:                                                                                                  #           DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
024353,002097:                                                                                                  #  TANG AND TANG +1.
024354,002098: 
024355,002099: 25,2475           04645        RRDESNB            TC       MAKECADR                              
024356,002100: 25,2476           55113                           TS       DESRET                                
024357,002101: 
024358,002102: 25,2477           05516                           TC       DOWNFLAG                              #  RESET FLAG TO PREVENT DODES FROM GOING
024359,002103: 25,2500           00041                           ADRES    LOSCMFLG                              #  BACK TO R21
024360,002104: 25,2501           32474                           CA       MAXTRYS                               #  SET TIME LIMIT COUNTER
024361,002105: 25,2502           55114                           TS       DESCOUNT                              #  FOR DESIGNATE
024362,002106: 25,2503           00004                           INHINT                                         #  SEE IF CURRENT MODE OK.
024363,002107: 25,2504           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
024364,002108: 25,2505           01107                           ADRES    TANG                                  
024365,002109: 25,2506           12523                           TCF      TRYSWN                                #  SEE IF IN OTHER MODE.
024366,002110: 
024367,002111: 25,2507           00003        OKDESNB            RELINT                                         
024368,002112: 25,2510           00006                           EXTEND                                         
024369,002113: 25,2511           31110                           DCA      TANG                                  
024370,002114: 25,2512           53751                           DXCH     TANGNB                                
024371,002115: 25,2513           06036                           TC       INTPRET                               
024372,002116: 
024373,002117: 25,2514           77624                           CALL                                           #  GET LOS IN NB COORDS.
024374,002118: 25,2515           46041                                    RRNB                                  
024375,002119: 25,2516           01102                           STORE    RRTARGET                              
024376,002120: 
024377,002121: 25,2517           77414                           SET      EXIT                                  
024378,002122: 25,2520           00071                                    RRNBSW                                
024379,002123: 
024380,002124: 25,2521           00004                           INHINT                                         
024381,002125: 25,2522           12433                           TCF      STARTDES   +1                         
024382,002126: 25,2523           02233        TRYSWN             TC       RMODINV                               #  SEE IF OTHER MODE WILL DO.
024383,002127: 25,2524           02540                           TC       RRLIMNB                               #  DO SPECIAL V41 LIMIT CHECK
024384,002128: 25,2525           01107                           ADRES    TANG                                  
024385,002129: 25,2526           12533                           TCF      NODESNB                               #  NOT POSSIBLE.
024386,002130: 
024387,002131: 25,2527           02233                           TC       RMODINV                               
024388,002132: 25,2530           34736                           CAF      BIT14                                 #  CALL FOR REMODE.
024389,002133: 25,2531           26110                           ADS      RADMODES                              
024390,002134: 25,2532           12507                           TCF      OKDESNB                               
024391,002135: 
024392,002136: 25,2533           02233        NODESNB            TC       RMODINV                               #  REINVERT MODE BIT.
024393,002137: 25,2534           05567                           TC       ALARM                                 #  BAD INPUT ANGLES.
024394,002138: 25,2535           00502                           OCT      502                                   
024395,002139: 25,2536           06011                           TC       CLRADMOD                              
024396,002140: 25,2537           05155                           TC       ENDOFJOB                              #  AVOID 503 ALARM.
024397,002141: 
024398,002142: 25,2540           50002        RRLIMNB            INDEX    Q                                     #  THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024399,002143: 25,2541           30000                           CAF      0                                     #  EXCEPT THAT THE MODE 1 SHAFT LOWER
024400,002144: 25,2542           24002                           INCR     Q                                     #  LIMIT IS -85 INSTEAD OF -70 DEGREES
024401,002145: 25,2543           00006                           EXTEND                                         
024402,002146: 

Page 555

024404,002148: 25,2544           50000                           INDEX    A                                     #  READ GIMBAL ANGLES INTO ITEMP STORAGE
024405,002149: 25,2545           30001                           DCA      0                                     
024406,002150: 25,2546           52062                           DXCH     ITEMP1                                
024407,002151: 25,2547           22002                           LXCH     Q                                     #  L(CALLER +2) TO L
024408,002152: 
024409,002153: 25,2550           34740                           CAF      BIT12                                 #  SEE WHICH MODE RR IS IN
024410,002154: 25,2551           70110                           MASK     RADMODES                              
024411,002155: 25,2552           10000                           CCS      A                                     
024412,002156: 25,2553           14550                           TCF      MODE2CHK                              #  MODE 2 CAN USE RRLIMCHK CODING
024413,002157: 25,2554           30061                           CA       ITEMP1                                
024414,002158: 25,2555           04512                           TC       MAGSUB                                #  MODE 1 IS DEFINED AS
024415,002159: 25,2556           66161                           DEC      -.30555                               #    1. ABS(T) L 55 DEGS
024416,002160: 25,2557           00001                           TC       L                                     #    2  SHAFT LIMITS AT +59, -85 DEGS
024417,002161: 
024418,002162: 25,2560           30062                           CA       ITEMP2                                #  LOAD SHAFT ANGLE
024419,002163: 25,2561           00006                           EXTEND                                         
024420,002164: 25,2562           62570                           BZMF     NEGSHAFT                              #  IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024421,002165: 25,2563           64562                           AD       5.5DEGS                               
024422,002166: 25,2564           04512        SHAFTLIM           TC       MAGSUB                                
024423,002167: 25,2565           64420                           DEC      -.35833                               #  64.5 DEGREES
024424,002168: 25,2566           00001                           TC       L                                     #  NOT IN LIMITS
024425,002169: 25,2567           04560                           TC       RRLIMOK                               #  IN LIMITS
024426,002170: 25,2570           62572        NEGSHAFT           AD       20.5DEGS                              #  MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024427,002171: 25,2571           12564                           TCF      SHAFTLIM                              
024428,002172: 
024429,002173: 
024430,002174: 25,2572           03512        20.5DEGS           DEC      .11389                                
024431,002175: 

Page 556

024433,002177:                                                                                                  #  PROGRAM NAME_  BEGDES
024434,002178: 
024435,002179:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024436,002180:                                                                                                  #  BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024437,002181:                                                                                                  #  ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024438,002182:                                                                                                  #  REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024439,002183:                                                                                                  #  CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024440,002184:                                                                                                  #  EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024441,002185:                                                                                                  #  FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024442,002186:                                                                                                  #  PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024443,002187:                                                                                                  #  AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024444,002188:                                                                                                  #  FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024445,002189:                                                                                                  #  BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024446,002190:                                                                                                  #  MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024447,002191:                                                                                                  #  REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024448,002192:                                                                                                  #  TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024449,002193:                                                                                                  #  IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024450,002194:                                                                                                  #  BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024451,002195:                                                                                                  #  CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024452,002196:                                                                                                  #  IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024453,002197:                                                                                                  #  EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024454,002198:                                                                                                  #  SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024455,002199:                                                                                                  #  RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024456,002200:                                                                                                  #  (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024457,002201:                                                                                                  #  (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024458,002202:                                                                                                  #  TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024459,002203:                                                                                                  #  EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024460,002204:                                                                                                  #  BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024461,002205: 
024462,002206:                                                                                                  #  CALLING SEQUENCE:
024463,002207:                                                                                                  #  WAITLIST CALL FROM STARTDES
024464,002208:                                                                                                  #  TCF BEGDES FROM DORREPOS
024465,002209:                                                                                                  #  TC STDESIG RETURNING, FROM REMODE
024466,002210: 
024467,002211:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024468,002212:                                                                                                  #  DESCOUNT, RADMODES
024469,002213: 
024470,002214:                                                                                                  #  SUBROUTINES CALLED_
024471,002215:                                                                                                  #  ENDRADAR, FINDVAC
024472,002216: 
024473,002217:                                                                                                  #  JOBS OR TASKS INITIATED_  DODES
024474,002218: 
024475,002219:                                                                                                  #  ALARMS_  PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024476,002220:                                                                                                  #  GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024477,002221: 
024478,002222:                                                                                                  #  EXIT_  TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024479,002223:                                                                                                  #  ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024480,002224:                                                                                                  #  RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024481,002225: 
024482,002226: 25,2573           40110        BEGDES             CS       RADMODES                              
024483,002227: 

Page 557

024485,002229: 25,2574           74736                           MASK     REMODBIT                              
024486,002230: 25,2575           10000                           CCS      A                                     
024487,002231: 25,2576           02602                           TC       STDESIG                               
024488,002232: 25,2577           02171                           TC       REMODE                                
024489,002233: 25,2600           05221        DESLOOP            TC       FIXDELAY                              #  2 SAMPLES PER SECOND.
024490,002234: 25,2601           00062                           DEC      50         B-14                       
024491,002235: 
024492,002236: 25,2602           34741        STDESIG            CAF      BIT11                                 
024493,002237: 25,2603           70110                           MASK     RADMODES                              #  SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024494,002238: 25,2604           10000                           CCS      A                                     #  OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024495,002239: 25,2605           12623                           TCF      BADDES                                #  REPOSITION TO BE IN PROGRESS.
024496,002240: 
024497,002241: 25,2606           10110                           CCS      RADMODES                              #  SEE IF CONTINUOUS DESIGNATE WANTED.
024498,002242: 25,2607           12612                           TCF      +3                                    #  IF SO, DONT CHECK BIT 10 TO SEE IF IN
024499,002243: 25,2610           12612                           TCF      +2                                    #  LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024500,002244: 25,2611           12630                           TCF      MOREDES    +1                         
024501,002245: 
024502,002246: 25,2612           40110                           CS       RADMODES                              #  IF NON-CONTINUOUS, SEE IF END OF
024503,002247: 25,2613           74742                           MASK     BIT10                                 #  PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024504,002248: 25,2614           10000                           CCS      A                                     #  WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024505,002249: 25,2615           13546                           TCF      ENDRADAR                              #  CHECKING RR CDU FAIL.
024506,002250: 
024507,002251: 25,2616           11114        STDESIG1           CCS      DESCOUNT                              #  SEE IF THE TINE LIMIT HAS EXPIRED
024508,002252: 25,2617           12627                           TCF      MOREDES                               
024509,002253: 
024510,002254: 25,2620           42635                           CS       B14+B2                                #  IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024511,002255: 25,2621           00006                           EXTEND                                         
024512,002256: 25,2622           03012                           WAND     CHAN12                                
024513,002257: 25,2623           44742        BADDES             CS       BIT10                                 #  REMOVE DESIGNATE FLAG.
024514,002258: 25,2624           70110                           MASK     RADMODES                              
024515,002259: 25,2625           54110                           TS       RADMODES                              
024516,002260: 25,2626           13562                           TCF      RDBADEND                              
024517,002261: 
024518,002262: 25,2627           55114        MOREDES            TS       DESCOUNT                              
024519,002263: 25,2630           37713                           CAF      PRIO26                                #  UPDATE GYRO TORQUE COMMANDS.
024520,002264: 25,2631           05105                           TC       FINDVAC                               
024521,002265: 25,2632  E7,1454                                  EBANK=   LOSCOUNT                              
024522,002266: 25,2632           02636 52067                     2CADR    DODES                                 
024523,002267: 
024524,002268: 25,2634           12600                           TCF      DESLOOP                               
024525,002269: 
024526,002270: 25,2635           20002        B14+B2             OCT      20002                                 
024527,002271: 

Page 558

024529,002273:                                                                                                  #  PROGRAM NAME_  DODES
024530,002274: 
024531,002275:                                                                                                  #  FUNCTIONAL DESCRIPTION_
024532,002276:                                                                                                  #  DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024533,002277:                                                                                                  #  COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024534,002278:                                                                                                  #  THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024535,002279:                                                                                                  #  NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024536,002280:                                                                                                  #  SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024537,002281:                                                                                                  #  + SHAFT = LOS  . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024538,002282:                                                                                                  #  -TRUNNION = LOS  . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024539,002283:                                                                                                  #  THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024540,002284:                                                                                                  #  (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024541,002285:                                                                                                  #  POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024542,002286:                                                                                                  #  SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024543,002287:                                                                                                  #  .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024544,002288:                                                                                                  #  (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024545,002289:                                                                                                  #  THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024546,002290:                                                                                                  #  CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024547,002291:                                                                                                  #  IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024548,002292:                                                                                                  #  OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024549,002293:                                                                                                  #  CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024550,002294:                                                                                                  #  INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024551,002295:                                                                                                  #  CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024552,002296:                                                                                                  #  (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024553,002297:                                                                                                  #  DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024554,002298:                                                                                                  #  (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024555,002299:                                                                                                  #  COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024556,002300:                                                                                                  #  PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024557,002301:                                                                                                  #  LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024558,002302:                                                                                                  #  DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024559,002303:                                                                                                  #  COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024560,002304:                                                                                                  #  CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024561,002305:                                                                                                  #  BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024562,002306:                                                                                                  #  RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024563,002307:                                                                                                  #  PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024564,002308:                                                                                                  #  THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024565,002309:                                                                                                  #  AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024566,002310:                                                                                                  #  IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024567,002311:                                                                                                  #  (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024568,002312:                                                                                                  #  VIA ENDOFJOB.
024569,002313: 
024570,002314:                                                                                                  #  CALLING SEQUENCE:
024571,002315:                                                                                                  #  EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024572,002316: 
024573,002317:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
024574,002318:                                                                                                  #  RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024575,002319:                                                                                                  #  LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024576,002320: 
024577,002321:                                                                                                  #  SUBROUTINES CALLED_
024578,002322:                                                                                                  #  READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024579,002323: 

Page 559

024581,002325:                                                                                                  #  JOBS OR TASKS INITIATED_
024582,002326:                                                                                                  #  NONE
024583,002327: 
024584,002328:                                                                                                  #  ALARMS_  NONE
024585,002329: 
024586,002330:                                                                                                  #  EXIT_  ENDOFJOB (ALWAYS)
024587,002331: 
024588,002332: 25,2636           00006        DODES              EXTEND                                         
024589,002333: 25,2637           30036                           DCA      CDUT                                  
024590,002334: 25,2640           53110                           DXCH     TANG                                  
024591,002335: 
024592,002336: 25,2641           06036                           TC       INTPRET                               
024593,002337: 
024594,002338: 25,2642           77201                           SETPD    VLOAD                                 
024595,002339: 25,2643           00001                                    0                                     
024596,002340: 25,2644           01102                                    RRTARGET                              
024597,002341: 25,2645           74214                           BON      VXSC                                  
024598,002342: 25,2646           00311                                    RRNBSW                                
024599,002343: 25,2647           52661                                    DONBRD                                #  TARGET IN NAV-BASE COORDINATES
024600,002344: 25,2650           01767                                    MLOSV                                 #  MULTIPLY UNIT LOS BY MAGNITUDE
024601,002345: 25,2651           63372                           VSL1     PDVL                                  
024602,002346: 25,2652           01761                                    LOSVEL                                
024603,002347: 25,2653           53361                           VXSC     VAD                                   #  ADD ONE SECOND RELATIVE VELOCITY TO LOS
024604,002348: 25,2654           13072                                    MCTOMS                                
024605,002349: 25,2655           45056                           UNIT     CALL                                  
024606,002350: 25,2656           47443                                    CDUTRIG                               
024607,002351: 25,2657           77624                           CALL                                           
024608,002352: 25,2660           47575                                    *SMNB*                                
024609,002353: 
024610,002354: 25,2661           14041        DONBRD             STODL    32D                                   
024611,002355: 25,2662           01111                                    TANG       +1                         
024612,002356: 25,2663           41434                           RTB      PUSH                                  #  SHAFT COMMAND = V(32D).(COS(S), 0,
024613,002357: 25,2664           21465                                    CDULOGIC                              #       (-SIN(S)).
024614,002358: 25,2665           65356                           SIN      PDDL                                  #  SIN(S) TO 0 AND COS(S) TO 2.
024615,002359: 25,2666           41546                           COS      PUSH                                  
024616,002360: 25,2667           65205                           DMP      PDDL                                  
024617,002361: 25,2670           00041                                    32D                                   
024618,002362: 25,2671           00045                                    36D                                   
024619,002363: 25,2672           44205                           DMP      BDSU                                  
024620,002364: 25,2673           00001                                    0                                     
024621,002365: 25,2674           77626                           STADR                                          
024622,002366: 25,2675           76666                           STORE    TANG       +1                         #  SHAFT COMMAND
024623,002367: 
024624,002368: 25,2676           47135                           SLOAD    RTB                                   
024625,002369: 25,2677           01110                                    TANG                                  
024626,002370: 25,2700           21465                                    CDULOGIC                              
024627,002371: 25,2701           71406                           PUSH     COS                                   #  COS(T) TO 4.
024628,002372: 25,2702           73525                           PDDL     SIN                                   
024629,002373: 25,2703           41206                           PUSH     DMP                                   #  SIN(T) TO 6.
024630,002374: 25,2704           00003                                    2                                     
024631,002375: 

Page 560

024633,002377: 25,2705           65352                           SL1      PDDL                                  #  DEFINE VECTOR U = (SIN(T)SIN(S))
024634,002378: 25,2706           00005                                    4                                     #                    (COS(T)      )
024635,002379: 25,2707           41325                           PDDL     DMP                                   #                    (SIN(T)COS(S))
024636,002380: 25,2710           00007                                    6                                     
024637,002381: 25,2711           00001                                    0                                     
024638,002382: 25,2712           55552                           SL1      VDEF                                  
024639,002383: 25,2713           77441                           DOT      EXIT                                  #  DOT U WITH LOS TO GET TRUNNION COMMAND.
024640,002384: 25,2714           00041                                    32D                                   
024641,002385: 

Page 561

024643,002387:                                                                                                  #           AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024644,002388:                                                                                                  #  COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024645,002389: 
024646,002390: 25,2715           40154                           CS       MPAC                                  #  DOT WAS NEGATIVE OF DESIRED ANGLE.
024647,002391: 25,2716           00006                           EXTEND                                         
024648,002392: 25,2717           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
024649,002393: 25,2720           55107                           TS       TANG                                  #  TRUNNION COMMAND.
024650,002394: 25,2721           40110                           CS       RADMODES                              #  A RELAY IN THE RR REVERSES POLARITY OF
024651,002395: 25,2722           74740                           MASK     BIT12                                 #  THE SHAFT COMMANDS IN MODE 2 SO THAT A
024652,002396: 25,2723           00006                           EXTEND                                         #  POSITIVE TORQUE APPLIED TO THE SHAFT
024653,002397: 25,2724           12727                           BZF      +3                                    #  GYRO CAUSES A POSITIVE CHANGE IN THE
024654,002398: 25,2725           31110                           CA       TANG       +1                         #  SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024655,002399: 25,2726           12730                           TCF      +2                                    #  BY CHANGING THE POLARITY OF OUR COMMAND.
024656,002400: 25,2727           41110                 +3        CS       TANG       +1                         
024657,002401: 25,2730           00006                           EXTEND                                         
024658,002402: 25,2731           73066                           MP       RDESGAIN                              #  SCALING ON INPUT ANGLE WAS 4 RADIANS.
024659,002403: 25,2732           55110                           TS       TANG       +1                         #  SHAFT COMMAND.
024660,002404: 25,2733           06036                           TC       INTPRET                               
024661,002405: 
024662,002406: 25,2734           41345                           DLOAD    DMP                                   
024663,002407: 25,2735           00003                                    2                                     #  COS(S).
024664,002408: 25,2736           00005                                    4                                     #  COS(T).
024665,002409: 25,2737           65352                           SL1      PDDL                                  #  Z COMPONENT OF URR.
024666,002410: 25,2740           65276                           DCOMP    PDDL                                  #  Y COMPONENT = -SIN(T).
024667,002411: 25,2741           00001                                    0                                     #  SIN(S).
024668,002412: 25,2742           72405                           DMP      SL1                                   
024669,002413: 25,2743           00005                                    4                                     #  COS(T).
024670,002414: 25,2744           43066                           VDEF     BON                                   #  FORM URR IN NB AXES.
024671,002415: 25,2745           00311                                    RRNBSW                                #  BYPASS NBSM CONVERSION IN VERB 41.
024672,002416: 25,2746           52751                                    +3                                    
024673,002417: 25,2747           77624                           CALL                                           
024674,002418: 25,2750           47577                                    *NBSM*                                #  GET URR IN SM AXES.
024675,002419: 25,2751           77441                           DOT      EXIT                                  
024676,002420: 25,2752           01102                                    RRTARGET                              #  GET COSINE OF ANGLE BETWEEN RR AND LOS.
024677,002421: 
024678,002422: 25,2753           00006                           EXTEND                                         
024679,002423: 25,2754           43070                           DCS      COS1/2DG                              
024680,002424: 25,2755           20155                           DAS      MPAC                                  #  DIFFERENCE OF COSINES, SCALED B-2.
024681,002425: 25,2756           10154                           CCS      MPAC                                  
024682,002426: 25,2757           34755                           CA       ZERO                                  #  IF COS ERROR BIGGER, ERROR IS SMALLER.
024683,002427: 25,2760           12762                           TCF      +2                                    
024684,002428: 25,2761           34753                           CA       ONE                                   
024685,002429: 25,2762           54155                           TS       MPAC       +1                         #  ZERO IF RR IS POINTED OK, ONE IF NOT.
024686,002430: 

Page 562

024688,002432:                                                                                                  #           SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024689,002433: 
024690,002434: 25,2763           10110                           CCS      RADMODES                              #  IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024691,002435: 25,2764           12767                           TCF      SIGNLCHK                              #  COMMANDS WITHOUT CHECKING MAGNITUDE OF
024692,002436: 25,2765           12767                           TCF      SIGNLCHK                              #  ERROR SIGNALS
024693,002437: 25,2766           13017                           TCF      DORROUT                               
024694,002438: 25,2767           10155        SIGNLCHK           CCS      MPAC       +1                         #  SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024695,002439: 25,2770           13000                           TCF      DGOODCHK                              
024696,002440: 25,2771           40074                           CS       STATE                                 #  IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024697,002441: 25,2772           74747                           MASK     LOKONBIT                              #  PROBLEM IS FINISHED.
024698,002442: 25,2773           10000                           CCS      A                                     
024699,002443: 25,2774           13005                           TCF      RRDESDUN                              
024700,002444: 
024701,002445: 25,2775           34736                           CAF      BIT14                                 #  ENABLE THE TRACKER.
024702,002446: 25,2776           00006                           EXTEND                                         
024703,002447: 25,2777           05012                           WOR      CHAN12                                
024704,002448: 
024705,002449: 25,3000           34750        DGOODCHK           CAF      BIT4                                  #  SEE IF DATA GOOD RECEIVED YET
024706,002450: 25,3001           00006                           EXTEND                                         
024707,002451: 25,3002           02033                           RAND     CHAN33                                
024708,002452: 25,3003           10000                           CCS      A                                     
024709,002453: 25,3004           13017                           TCF      DORROUT                               
024710,002454: 
024711,002455: 25,3005           44742        RRDESDUN           CS       BIT10                                 #  WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024712,002456: 25,3006           70110                           MASK     RADMODES                              #  WAITLIST TASK WE WILL GO TO RGOODEND.
024713,002457: 25,3007           00004                           INHINT                                         
024714,002458: 25,3010           54110                           TS       RADMODES                              
024715,002459: 
024716,002460: 25,3011           05516                           TC       DOWNFLAG                              #  RESET LOSCMFLG TO PREVENT A
024717,002461: 25,3012           00041                           ADRES    LOSCMFLG                              #  RECOMPUTATION OF LOS AFTER DATA GOOD
024718,002462: 25,3013           44752                           CS       BIT2                                  #  TURN OFF ENABLE RR ERROR COUNTER
024719,002463: 25,3014           00006                           EXTEND                                         
024720,002464: 25,3015           03012                           WAND     CHAN12                                
024721,002465: 25,3016           15155                           TCF      ENDOFJOB                              #  WITH ECTR DISABLED.
024722,002466: 
024723,002467: 25,3017           40074        DORROUT            CS       FLAGWRD0                              #  IF NOT IN P20/P22 BUT V41,DON'T DO
024724,002468: 25,3020           74745                           MASK     RNDVZBIT                              #  VELOCITY CORRECTION.
024725,002469: 25,3021           10000                           CCS      A                                     
024726,002470: 25,3022           03041                           TC       NOTP20                                
024727,002471: 25,3023           06036                           TC       INTPRET                               
024728,002472: 25,3024           74375                           VLOAD    VXSC                                  #  MULTIPLY UNIT LOS BY MAGNITUDE
024729,002473: 25,3025           01102                                    RRTARGET                              
024730,002474: 25,3026           01767                                    MLOSV                                 
024731,002475: 25,3027           41572                           VSL1     PUSH                                  
024732,002476: 25,3030           74375                           VLOAD    VXSC                                  #  ADD .5 SEC. OF VELOCITY
024733,002477: 25,3031           01761                                    LOSVEL                                #  TO LOS VECTOR
024734,002478: 25,3032           13072                                    MCTOMS                                
024735,002479: 25,3033           53362                           VSR1     VAD                                   
024736,002480: 25,3034           77656                           UNIT                                           
024737,002481: 25,3035           15102                           STODL    RRTARGET                              #  STORE VELOCITY-CORRECTED LOS (UNIT)
024738,002482: 

Page 563

024740,002484: 25,3036           00045                                    36D                                   
024741,002485: 25,3037           01767                           STORE    MLOSV                                 #  AND STORE MAGNITUDE
024742,002486: 25,3040           77776                           EXIT                                           
024743,002487: 25,3041           00004        NOTP20             INHINT                                         
024744,002488: 25,3042           40110                           CS       RADMODES                              #  PUT OUT COMMAND UNLESS MONITOR
024745,002489: 25,3043           74741                           MASK     BIT11                                 #  REPOSITION HAS TAKEN OVER.
024746,002490: 25,3044           10000                           CCS      A                                     
024747,002491: 25,3045           02306                           TC       RROUT                                 
024748,002492: 
024749,002493: 25,3046           30076                           CA       FLAGWRD2                              
024750,002494: 25,3047           74740                           MASK     LOSCMBIT                              #  IF LOSCMFLG NOT SET, DON'T TEST
024751,002495: 25,3050           00006                           EXTEND                                         #  LOS COUNTER
024752,002496: 25,3051           15155                           BZF      ENDOFJOB                              
024753,002497: 25,3052           11454                           CCS      LOSCOUNT                              #  TEST LOS COUNTER TO SEE IF TIME TO GET
024754,002498: 25,3053           03064                           TC       DODESEND                              #  A NEW LOS
024755,002499: 25,3054           00004                           INHINT                                         
024756,002500: 25,3055           06027                           TC       KILLTASK                              #  YES - KILL TASK WHICH SCHEDULES DODES
024757,002501: 25,3056           52602                           CADR     DESLOOP    +2                         
024758,002502: 25,3057           00003                           RELINT                                         
024759,002503: 25,3060           10067                           CCS      NEWJOB                                
024760,002504: 25,3061           05122                           TC       CHANG1                                
024761,002505: 25,3062           04616                           TC       BANKCALL                              
024762,002506: 25,3063           50752                           CADR     R21LEM2                               
024763,002507: 
024764,002508: 
024765,002509: 25,3064           55454        DODESEND           TS       LOSCOUNT                              
024766,002510: 25,3065           05155                           TC       ENDOFJOB                              
024767,002511: 
024768,002512: 
024769,002513: 25,3066           21122        RDESGAIN           DEC      .53624                                #  TRIES TO NULL .5 ERROR IN .5 SEC.
024770,002514: 25,3067           07777 33005  COS1/2DG           2DEC     .999961923 B-2                        #  COSINE OF 0.5 DEGREES.
024771,002515: 25,3071           00310 00000  MCTOMS             2DEC     100        B-13                       
024772,002516: 

Page 564

024774,002518:                                                                                                  #  RADAR READ INITIALIZATION
024775,002519: 
024776,002520:                                                                                                  #  RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
024777,002521: 
024778,002522: 25,3073           03113        LRALT              TC       INITREAD   -1                         #  ONE SAMPLE PER READING.
024779,002523: 25,3074           00017        ALLREAD            OCT      17                                    
024780,002524: 
024781,002525: 25,3075           03114        LRVELZ             TC       INITREAD                              
024782,002526: 25,3076           00016                           OCT      16                                    
024783,002527: 
024784,002528: 25,3077           03114        LRVELY             TC       INITREAD                              
024785,002529: 25,3100           00015                           OCT      15                                    
024786,002530: 
024787,002531: 25,3101           03114        LRVELX             TC       INITREAD                              
024788,002532: 25,3102           00014                           OCT      14                                    
024789,002533: 
024790,002534: 25,3103           03113        RRRDOT             TC       INITREAD   -1                         
024791,002535: 25,3104           00012                           OCT      12                                    
024792,002536: 
024793,002537: 25,3105           03113        RRRANGE            TC       INITREAD   -1                         
024794,002538: 25,3106           00011                           OCT      11                                    
024795,002539: 
024796,002540:                                                                                                  #  LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
024797,002541:                                                                                                  #  WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
024798,002542: 
024799,002543: 25,3107           55105        LRVEL              TS       TIMEHOLD                              #  STORE VBEAM INDEX HERE MOMEMTARILY
024800,002544: 25,3110           34756                           CAF      FIVE                                  #  SPECIFY FIVE SAMPLES
024801,002545: 25,3111           51105                           INDEX    TIMEHOLD                              
024802,002546: 25,3112           13075                           TCF      LRVELZ                                
024803,002547: 

Page 565

024805,002549: 25,3113           34753                 -1        CAF      ONE                                   #  ENTRY TO TAKE ONLY 1 SAMPLE.
024806,002550: 25,3114           00004        INITREAD           INHINT                                         
024807,002551: 
024808,002552: 25,3115           55105                           TS       TIMEHOLD                              #  GET DT OF MIDPOINT OF NOMINAL SAMPLING
024809,002553: 25,3116           00006                           EXTEND                                         #  INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
024810,002554: 25,3117           74751                           MP       BIT3                                  #  ENCOUNTERED).
024811,002555: 25,3120           53106                           DXCH     TIMEHOLD                              
024812,002556: 
024813,002557: 25,3121           10000                           CCS      A                                     
024814,002558: 25,3122           55111                           TS       NSAMP                                 
024815,002559: 25,3123           64753                           AD       ONE                                   
024816,002560:                                                                                                  #           INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
024817,002561:                                                                                                  #                                                   DOUBLE
024818,002562: 25,3124           55100                           TS       SAMPLIM                               
024819,002563: 
024820,002564: 25,3125           33147                           CAF      DGBITS                                #  READ CURRENT VALUE OF DATA GOOD BITS.
024821,002565: 25,3126           00006                           EXTEND                                         
024822,002566: 25,3127           02033                           RAND     CHAN33                                
024823,002567: 25,3130           55113                           TS       OLDATAGD                              
024824,002568: 
024825,002569: 25,3131           43074                           CS       ALLREAD                               
024826,002570: 25,3132           00006                           EXTEND                                         
024827,002571: 25,3133           03013                           WAND     CHAN13                                #  REMOVE ALL RADAR BITS
024828,002572: 
024829,002573: 25,3134           50002                           INDEX    Q                                     
024830,002574: 25,3135           30000                           CAF      0                                     
024831,002575: 25,3136           00006                           EXTEND                                         
024832,002576: 25,3137           05013                           WOR      CHAN13                                #  SET NEW RADAR BITS
024833,002577: 
024834,002578: 25,3140           00006                           EXTEND                                         
024835,002579: 25,3141           30025                           DCA      TIME2                                 
024836,002580: 25,3142           21106                           DAS      TIMEHOLD                              #  TIME OF NOMINAL MIDPOINT.
024837,002581: 
024838,002582: 25,3143           34755                           CAF      ZERO                                  
024839,002583: 25,3144           54001                           TS       L                                     
024840,002584: 25,3145           53102                           DXCH     SAMPLSUM                              
024841,002585: 25,3146           12366                           TCF      ROADBACK                              
024842,002586: 
024843,002587: 25,3147           00230        DGBITS             OCT      230                                   
024844,002588: 

Page 566

024846,002590:                                                                                                  #  RADAR RUPT READER
024847,002591: 
024848,002592:                                                                                                  #  THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024849,002593: 
024850,002594: 25,2000                                           SETLOC   RADARUPT                              
024851,002595: 25,2000                                           BANK                                           
024852,002596: 
024853,002597: 25,3150                                           COUNT*   $$/RRUPT                              
024854,002598: 25,3150           00006        RADAREAD           EXTEND                                         #  MUST SAVE SBANK BECAUSE OF RUPT EXITS
024855,002599: 25,3151           04007                           ROR      SUPERBNK                              #  VIA TASKOVER (BADEND OR GOODEND.
024856,002600: 25,3152           54016                           TS       BANKRUPT                              
024857,002601: 25,3153           00006                           EXTEND                                         
024858,002602: 25,3154           22012                           QXCH     QRUPT                                 
024859,002603: 
024860,002604: 25,3155           34757                           CAF      SEVEN                                 
024861,002605: 25,3156           00006                           EXTEND                                         
024862,002606: 25,3157           02013                           RAND     CHAN13                                
024863,002607: 25,3160           55335                           TS       DNINDEX                               
024864,002608: 25,3161           00006                           EXTEND                                         #  IF RADAR SELECT BITS ZERO,DO NOT STORE
024865,002609: 25,3162           13166                           BZF      TRYCOUNT                              #  DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024866,002610: 25,3163           30046                           CA       RNRAD                                 
024867,002611: 25,3164           51335                           INDEX    DNINDEX                               
024868,002612: 25,3165           55332                           TS       DNRRANGE   -1                         
024869,002613: 25,3166           11100        TRYCOUNT           CCS      SAMPLIM                               
024870,002614: 25,3167           13211                           TCF      PLENTY                                
024871,002615: 25,3170           13174                           TCF      NOMORE                                
024872,002616: 25,3171           05567                           TC       ALARM                                 
024873,002617: 25,3172           00520                           OCT      520                                   
024874,002618: 25,3173           05270                           TC       RESUME                                
024875,002619: 
024876,002620: 25,3174           30107        NOMORE             CA       FLGWRD11                              #  IS LRBYPASS SET?
024877,002621: 25,3175           74735                           MASK     LRBYBIT                               
024878,002622: 25,3176           00006                           EXTEND                                         
024879,002623: 25,3177           13206                           BZF      BADRAD                                #  NO.  R12 IS ON -- BYPASS 521 ALARM.
024880,002624: 
024881,002625: 25,3200           40077                           CS       FLAGWRD3                              #  CHECK R04FLAG.
024882,002626: 25,3201           74743                           MASK     R04FLBIT                              #  IF 1,R04 IS RUNNING. DO NOT ALARM-
024883,002627: 25,3202           00006                           EXTEND                                         
024884,002628: 25,3203           13206                           BZF      BADRAD                                
024885,002629: 
024886,002630: 25,3204           05567                           TC       ALARM                                 #  P20 WANTS THE ALARM.
024887,002631: 25,3205           00521                           OCT      521                                   
024888,002632: 25,3206           44753        BADRAD             CS       ONE                                   
024889,002633: 25,3207           55100                           TS       SAMPLIM                               
024890,002634: 25,3210           03560                           TC       RDBADEND   -2                         
024891,002635: 25,3211           55100        PLENTY             TS       SAMPLIM                               
024892,002636: 25,3212           34751                           CAF      BIT3                                  
024893,002637: 25,3213           00006                           EXTEND                                         
024894,002638: 25,3214           02013                           RAND     CHAN13                                #  TO FIND OUT WHICH RADAR
024895,002639: 25,3215           00006                           EXTEND                                         
024896,002640: 

Page 567

024898,002642: 25,3216           13276                           BZF      RENDRAD                               
024899,002643: 
024900,002644: 25,3217           03364                           TC       R77CHECK                              #  R77 QUITS HERE.
024901,002645: 25,3220           30110        LRPOSCHK           CA       RADMODES                              #  SEE IF LR IN DESIRED POSITION.
024902,002646: 25,3221           00006                           EXTEND                                         
024903,002647: 25,3222           06033                           RXOR     CHAN33                                
024904,002648: 25,3223           74746                           MASK     BIT6                                  
024905,002649: 25,3224           00006                           EXTEND                                         
024906,002650: 25,3225           13231                           BZF      VELCHK                                
024907,002651: 
024908,002652: 25,3226           05567                           TC       ALARM                                 
024909,002653: 25,3227           00522                           OCT      522                                   
024910,002654: 25,3230           03206                           TC       BADRAD                                
024911,002655: 
024912,002656: 25,3231           36244        VELCHK             CAF      BIN3                                  #  = 00003 OCT
024913,002657: 25,3232           00006                           EXTEND                                         
024914,002658: 25,3233           06013                           RXOR     CHAN13                                #  RESET ACTIVITY BIT
024915,002659: 25,3234           76244                           MASK     BIN3                                  
024916,002660: 25,3235           00006                           EXTEND                                         
024917,002661: 25,3236           13272                           BZF      LRHEIGHT                              #  TAKE A LR RANGE READING
024918,002662: 
024919,002663: 25,3237           34733                           CAF      POSMAX                                
024920,002664: 25,3240           70046                           MASK     RNRAD                                 
024921,002665: 25,3241           62000                           AD       LVELBIAS                              
024922,002666: 25,3242           54001                           TS       L                                     
024923,002667: 25,3243           30046                           CAE      RNRAD                                 
024924,002668: 25,3244           60000                           DOUBLE                                         
024925,002669: 25,3245           74753                           MASK     BIT1                                  
024926,002670: 25,3246           52064                           DXCH     ITEMP3                                
024927,002671: 
024928,002672: 25,3247           34744                           CAF      BIT8                                  #  DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024929,002673: 25,3250           03442                           TC       DGCHECK                               #  ING DATA SO SOME RADAR TESTS WILL WORK
024930,002674:                                                                                                  #  INDEPENDENT OF DATA GOOD.
024931,002675: 
024932,002676: 25,3251           11111                           CCS      NSAMP                                 
024933,002677: 25,3252           03262                           TC       NOEND                                 
024934,002678: 25,3253           44753        GOODRAD            CS       ONE                                   
024935,002679: 25,3254           55100                           TS       SAMPLIM                               
024936,002680: 25,3255           40061                           CS       ITEMP1                                #  WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024937,002681: 25,3256           70110                           MASK     RADMODES                              #  RESET DATA FAIL FLAGS FOR SETTRKF.
024938,002682: 25,3257           54110                           TS       RADMODES                              
024939,002683: 25,3260           03616                           TC       RADLITES                              #  LAMPS MAY GO OFF IF DATA JUST GOOD.
024940,002684: 25,3261           03553                           TC       RGOODEND   -2                         
024941,002685: 
024942,002686: 25,3262           55111        NOEND              TS       NSAMP                                 
024943,002687: 25,3263           11100        RESAMPLE           CCS      SAMPLIM                               #  SEE IF ANY MORE TRIES SHOULD BE MADE.
024944,002688: 25,3264           13266                           TCF      +2                                    
024945,002689: 25,3265           13461                           TCF      DATAFAIL                              #  N SAMPLES NOT AVAILABLE.
024946,002690: 25,3266           34750                           CAF      BIT4                                  #  RESET ACTIVITY BIT.
024947,002691: 25,3267           00006                           EXTEND                                         
024948,002692: 

Page 568

024950,002694: 25,3270           05013                           WOR      CHAN13                                #  RESET ACTIVITY BIT
024951,002695: 25,3271           05270                           TC       RESUME                                
024952,002696: 
024953,002697: 
024954,002698: 25,3272           34747        LRHEIGHT           CAF      BIT5                                  
024955,002699: 25,3273           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024956,002700: 
024957,002701: 25,3274           34743                           CAF      BIT9                                  
024958,002702: 25,3275           03320                           TC       SCALECHK   -1                         
024959,002703: 
024960,002704: 25,3276           34741        RENDRAD            CAF      BIT11                                 #  MAKE SURE ANTENNA HAS NOT GONE OUT OF
024961,002705: 25,3277           70110                           MASK     RADMODES                              #  LIMITS.
024962,002706: 25,3300           10000                           CCS      A                                     
024963,002707: 25,3301           13206                           TCF      BADRAD                                
024964,002708: 
024965,002709: 25,3302           40110                           CS       RADMODES                              #  BE SURE RR CDU HASNT FAILED.
024966,002710: 25,3303           74745                           MASK     BIT7                                  
024967,002711: 25,3304           10000                           CCS      A                                     
024968,002712: 25,3305           13206                           TCF      BADRAD                                
024969,002713: 
024970,002714: 25,3306           34750                           CAF      BIT4                                  #  SEE IF DATA HAS BEEN GOOD.
024971,002715: 25,3307           54061                           TS       ITEMP1                                #  (POSITION OF DATA GOOD BIT IN CHAN 33)
024972,002716: 
024973,002717: 25,3310           34753                           CAF      BIT1                                  #  SEE IF RR RDOT.
024974,002718: 25,3311           00006                           EXTEND                                         
024975,002719: 25,3312           02013                           RAND     CHAN13                                
024976,002720: 25,3313           54002                           TS       Q                                     #  FOR LATER TESTING.
024977,002721: 25,3314           10000                           CCS      A                                     
024978,002722: 25,3315           13317                           TCF      +2                                    
024979,002723: 25,3316           13331                           TCF      RADIN                                 #  NO SCALE CHECK FOR RR RDOT.
024980,002724: 25,3317           34751                           CAF      BIT3                                  
024981,002725: 25,3320           54001                           TS       L                                     
024982,002726: 
024983,002727: 25,3321           00006        SCALECHK           EXTEND                                         
024984,002728: 25,3322           02033                           RAND     CHAN33                                #  SCALE STATUS NOW
024985,002729: 25,3323           56001                           XCH      L                                     
024986,002730: 25,3324           70110                           MASK     RADMODES                              #  SCALE STATUS BEFORE
024987,002731: 25,3325           00006                           EXTEND                                         
024988,002732: 25,3326           06001                           RXOR     LCHAN                                 #  SEE IF THEY DIFFER
024989,002733: 25,3327           10000                           CCS      A                                     
024990,002734: 25,3330           03350                           TC       SCALCHNG                              #  THEY DIFFER
024991,002735: 
024992,002736: 25,3331           34733        RADIN              CAF      POSMAX                                
024993,002737: 25,3332           70046                           MASK     RNRAD                                 
024994,002738: 25,3333           54064                           TS       ITEMP4                                
024995,002739: 
024996,002740: 25,3334           30046                           CAE      RNRAD                                 
024997,002741: 25,3335           60000                           DOUBLE                                         
024998,002742: 25,3336           74753                           MASK     BIT1                                  
024999,002743: 25,3337           54063                           TS       ITEMP3                                
025000,002744: 

Page 569

025002,002746: 25,3340           10002                           CCS      Q                                     #  SEE IF RR RDOT.
025003,002747: 25,3341           13402                           TCF      SCALADJ                               #  NO, BUT SCALE CHANGING MAY BE NEEDED.
025004,002748: 
025005,002749: 25,3342           00006                           EXTEND                                         #  IF RR RANGE RATE, THROW OUT BIAS.
025006,002750: 25,3343           42002                           DCS      RDOTBIAS                              
025007,002751: 25,3344           20064        DASAMPL            DAS      ITEMP3                                
025008,002752: 25,3345           30061        DGCHECK2           CA       ITEMP1                                #  SEE THAT DATA HAS BEEN GOOD BEFORE AND
025009,002753: 25,3346           03443                           TC       DGCHECK    +1                         #  AFTER TAKING SAMPLE.
025010,002754: 25,3347           03253                           TC       GOODRAD                               
025011,002755: 
025012,002756: 25,3350           22110        SCALCHNG           LXCH     RADMODES                              
025013,002757: 25,3351           64753                           AD       BIT1                                  
025014,002758: 25,3352           00006                           EXTEND                                         
025015,002759: 25,3353           06001                           RXOR     LCHAN                                 
025016,002760: 25,3354           54110                           TS       RADMODES                              
025017,002761: 25,3355           33147                           CAF      DGBITS                                #  UPDATE LAST VALUE OF DATA GOOD BITS.
025018,002762: 25,3356           00006                           EXTEND                                         
025019,002763: 25,3357           02033                           RAND     CHAN33                                
025020,002764: 25,3360           55113                           TS       OLDATAGD                              
025021,002765: 25,3361           05504                           TC       UPFLAG                                #  SET RNGSCFLG
025022,002766: 25,3362           00120                           ADRES    RNGSCFLG                              #  FOR LRS24.1
025023,002767: 25,3363           13206                           TCF      BADRAD                                
025024,002768: 
025025,002769:                                                                                                  #  R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
025026,002770: 
025027,002771: 25,3364           40101        R77CHECK           CS       FLAGWRD5                              
025028,002772: 25,3365           74741                           MASK     R77FLBIT                              
025029,002773: 25,3366           10000                           CCS      A                                     
025030,002774: 25,3367           00002                           TC       Q                                     #  NOT R77
025031,002775: 25,3370           43401                           CS       BITS5,8                               #  UPDATE LR DATA GOOD BITS IN RADMODES
025032,002776: 25,3371           70110                           MASK     RADMODES                              
025033,002777: 25,3372           54001                           TS       L                                     
025034,002778: 25,3373           33401                           CA       BITS5,8                               
025035,002779: 25,3374           00006                           EXTEND                                         
025036,002780: 25,3375           02033                           RAND     CHAN33                                
025037,002781: 25,3376           60001                           AD       L                                     
025038,002782: 25,3377           54110                           TS       RADMODES                              
025039,002783: 25,3400           03553                           TC       RGOODEND   -2                         
025040,002784: 25,3401           00220        BITS5,8            OCT      220                                   
025041,002785: 

Page 570

025043,002787:                                                                                                  #           THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
025044,002788: 
025045,002789: 25,3402           10001        SCALADJ            CCS      L                                     #  L HAS SCALE INBIT FOR THIS RADAR.
025046,002790: 25,3403           13405                           TCF      +2                                    #  ON HIGH SCALE.
025047,002791: 25,3404           13345                           TCF      DGCHECK2                              
025048,002792: 
025049,002793: 25,3405           31335                           CA       DNINDEX                               
025050,002794: 25,3406           74751                           MASK     BIT3                                  
025051,002795: 25,3407           10000                           CCS      A                                     
025052,002796: 25,3410           13417                           TCF      LRSCK                                 
025053,002797: 
025054,002798: 25,3411           52064                           DXCH     ITEMP3                                
025055,002799: 25,3412           20001                           DDOUBL                                         
025056,002800: 25,3413           20001                           DDOUBL                                         
025057,002801: 25,3414           20001                           DDOUBL                                         
025058,002802: 25,3415           52064                           DXCH     ITEMP3                                
025059,002803: 
025060,002804: 25,3416           13345                           TCF      DGCHECK2                              
025061,002805: 
025062,002806: 25,3417           10063        LRSCK              CCS      ITEMP3                                
025063,002807: 25,3420           13431                           TCF      +11                                   
025064,002808: 25,3421           40064                           CS       ITEMP4                                
025065,002809: 25,3422           63441                           AD       HISCALIM                              
025066,002810: 25,3423           00006                           EXTEND                                         
025067,002811: 25,3424           63431                           BZMF     +5                                    
025068,002812: 
025069,002813: 25,3425           40107                           CS       FLGWRD11                              
025070,002814: 25,3426           74751                           MASK     SCABBIT                               
025071,002815: 25,3427           26107                           ADS      FLGWRD11                              
025072,002816: 25,3430           13434                           TCF      +4                                    
025073,002817: 
025074,002818: 25,3431           44751                           CS       SCABBIT                               
025075,002819: 25,3432           70107                           MASK     FLGWRD11                              
025076,002820: 25,3433           54107                           TS       FLGWRD11                              
025077,002821: 
025078,002822: 25,3434           00006                           EXTEND                                         
025079,002823: 25,3435           30064                           DCA      ITEMP3                                
025080,002824: 25,3436           20001                           DDOUBL                                         
025081,002825: 25,3437           20001                           DDOUBL                                         
025082,002826: 25,3440           13344                           TCF      DASAMPL                               
025083,002827: 
025084,002828: 25,3441           00714        HISCALIM           DEC      460        B-14                       #  2481.7 FT  *****************************
025085,002829: 

Page 571

025087,002831: 25,3442           54061        DGCHECK            TS       ITEMP1                                #  UPDATE DATA GOOD BIT IN OLDATAGD AND
025088,002832: 25,3443           00006                           EXTEND                                         #  MAKE SURE IT WAS ON BEFORE AND AFTER THE
025089,002833: 25,3444           02033                           RAND     CHAN33                                #  SAMPLE WAS TAKEN BEFORE RETURNING. IF
025090,002834: 25,3445           54001                           TS       L                                     #  NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
025091,002835: 25,3446           40061                           CS       ITEMP1                                #  MAX NUMBER OF TRIES HAS BEEN REACHED,
025092,002836: 25,3447           71113                           MASK     OLDATAGD                              #  THE BIT CORRESPONDING TO THE DATA GOOD
025093,002837: 25,3450           60001                           AD       L                                     #  WHICH FAILED TO APPEAR IS IN ITEMP1 AND
025094,002838: 25,3451           57113                           XCH      OLDATAGD                              #  CAN BE USED TO SET RADMODES WHICH VIA
025095,002839: 25,3452           70061                           MASK     ITEMP1                                #  SETTRKF SETS THE TRACKER FAIL LAMP.
025096,002840: 25,3453           60001                           AD       L                                     
025097,002841: 25,3454           10000                           CCS      A                                     #  SHOULD BOTH BE ZERO.
025098,002842: 25,3455           03263                           TC       RESAMPLE                              
025099,002843: 25,3456           52064                           DXCH     ITEMP3                                #  IF DATA GOOD BEFORE AND AFTER, ADD TO
025100,002844: 25,3457           21102                           DAS      SAMPLSUM                              #  ACCUMULATION.
025101,002845: 25,3460           00002                           TC       Q                                     
025102,002846: 
025103,002847: 25,3461           40061        DATAFAIL           CS       ITEMP1                                #  IN THE ABOVE CASE, SET RADMODES BIT
025104,002848: 25,3462           70110                           MASK     RADMODES                              #  SHOWING SOME RADAR DATA FAILED.
025105,002849: 25,3463           60061                           AD       ITEMP1                                
025106,002850: 25,3464           54110                           TS       RADMODES                              
025107,002851: 
025108,002852: 25,3465           52064                           DXCH     ITEMP3                                #  IF WE HAVE BEEN UNABLE TO GATHER N
025109,002853: 25,3466           53102                           DXCH     SAMPLSUM                              #  SAMPLES, USE LAST ONE ONLY.
025110,002854: 25,3467           03616                           TC       RADLITES                              
025111,002855: 25,3470           13174                           TCF      NOMORE                                
025112,002856: 

Page 572

025114,002858:                                                                                                  #  THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
025115,002859: 
025116,002860: 25,2000                                           SETLOC   P20S1                                 
025117,002861: 25,2000                                           BANK                                           
025118,002862: 
025119,002863: 25,3471                                           COUNT*   $$/RSUB                               
025120,002864: 25,3471           00004        LRPOS2             INHINT                                         
025121,002865: 
025122,002866: 25,3472           40110                           CS       RADMODES                              
025123,002867: 25,3473           74746                           MASK     BIT6                                  #  SET BIT6 TO SHOW DESIRED LR POS IS 2
025124,002868: 25,3474           26110                           ADS      RADMODES                              
025125,002869: 
025126,002870: 25,3475           34745                           CAF      BIT7                                  
025127,002871: 25,3476           00006                           EXTEND                                         
025128,002872: 25,3477           02033                           RAND     CHAN33                                #  SEE IF ALREADY THERE.
025129,002873: 25,3500           00006                           EXTEND                                         
025130,002874: 25,3501           13530                           BZF      RADNOOP                               
025131,002875: 
025132,002876: 25,3502           34737                           CAF      BIT13                                 
025133,002877: 25,3503           00006                           EXTEND                                         
025134,002878: 25,3504           05012                           WOR      CHAN12                                #  COMMAND TO POSITION 2
025135,002879: 25,3505           33545                           CAF      6SECS                                 #  START SCANNING FOR INBIT AFTER 7 SECS.
025136,002880: 25,3506           05203                           TC       WAITLIST                              
025137,002881: 25,3507  E7,1454                                  EBANK=   LOSCOUNT                              
025138,002882: 25,3507           03543 52067                     2CADR    LRPOSCAN                              
025139,002883: 
025140,002884: 25,3511           02366                           TC       ROADBACK                              
025141,002885: 
025142,002886: 25,3512           55100        LRPOSNXT           TS       SAMPLIM                               
025143,002887: 25,3513           05221                           TC       FIXDELAY                              #  SCAN ONCE PER SECOND 15 TIMES MAX AFTER
025144,002888: 25,3514           00144                           DEC      100        B-14                       #  INITIAL DELAY OF 7 SECONDS.
025145,002889: 
025146,002890: 25,3515           34745                           CAF      BIT7                                  #  SEE IF LR POS2 IS ON
025147,002891: 25,3516           00006                           EXTEND                                         
025148,002892: 25,3517           02033                           RAND     CHAN33                                
025149,002893: 25,3520           00006                           EXTEND                                         
025150,002894: 25,3521           13535                           BZF      LASTLRDT                              #  IF THERE, WAIT FINAL SECOND FOR BOUNCE.
025151,002895: 
025152,002896: 25,3522           11100                           CCS      SAMPLIM                               #  SEE IF MAX TIME UP.
025153,002897: 25,3523           13512                           TCF      LRPOSNXT                              
025154,002898: 
025155,002899: 25,3524           44737                           CS       BIT13                                 #  IF TIME UP, DISABLE COMMAND AND ALARM.
025156,002900: 25,3525           00006                           EXTEND                                         
025157,002901: 25,3526           03012                           WAND     CHAN12                                
025158,002902: 25,3527           13562                           TCF      RDBADEND                              
025159,002903: 
025160,002904: 25,3530           34753        RADNOOP            CAF      ONE                                   #  NO FURTHER ACTION REQUESTED.
025161,002905: 25,3531           05203                           TC       WAITLIST                              
025162,002906: 25,3532  E7,1454                                  EBANK=   LOSCOUNT                              
025163,002907: 25,3532           03555 52067                     2CADR    RGOODEND                              
025164,002908: 

Page 573

025166,002910: 25,3534           02366                           TC       ROADBACK                              
025167,002911: 
025168,002912: 25,3535           35000        LASTLRDT           CA       2SECS                                 #  WAIT TWO SECONDS AFTER RECEIPT OF INBIT
025169,002913: 25,3536           05224                           TC       VARDELAY                              #  TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
025170,002914: 
025171,002915: 25,3537           44737                           CS       BIT13                                 #  REMOVE COMMAND
025172,002916: 25,3540           00006                           EXTEND                                         
025173,002917: 25,3541           03012                           WAND     CHAN12                                
025174,002918: 25,3542           13555                           TCF      RGOODEND                              
025175,002919: 
025176,002920: 25,3543           34317        LRPOSCAN           CAF      FOURTEEN                              #  SET UP FOR 15 SAMPLES.
025177,002921: 25,3544           13512                           TCF      LRPOSNXT                              
025178,002922: 
025179,002923: 25,3545           01130        6SECS              DEC      600        B-14                       
025180,002924: 

Page 574

025182,002926:                                                                                                  #           SEQUENCES TO TERMINATE RR OPERATIONS.
025183,002927: 
025184,002928: 25,3546           34745        ENDRADAR           CAF      BIT7                                  #  PROLOG TO CHECK RR CDU FAIL BEFORE END.
025185,002929: 25,3547           70110                           MASK     RADMODES                              
025186,002930: 25,3550           10000                           CCS      A                                     
025187,002931: 25,3551           13555                           TCF      RGOODEND                              
025188,002932: 25,3552           13562                           TCF      RDBADEND                              
025189,002933: 25,3553           44755                 -2        CS       ZERO                                  #  RGOODEND WHEN NOT UNDER WAITLIST CONTROL
025190,002934: 25,3554           54734                           TS       RUPTAGN                               
025191,002935: 
025192,002936: 25,3555           34752        RGOODEND           CAF      TWO                                   
025193,002937: 25,3556           04635                           TC       POSTJUMP                              
025194,002938: 25,3557           17640                           CADR     GOODEND                               
025195,002939: 
025196,002940: 25,3560           44755                 -2        CS       ZERO                                  #  RDBADEND WHEN NOT UNDER WAITLIST.
025197,002941: 25,3561           54734                           TS       RUPTAGN                               
025198,002942: 25,3562           34752        RDBADEND           CAF      TWO                                   
025199,002943: 25,3563           04635                           TC       POSTJUMP                              
025200,002944: 25,3564           17635                           CADR     BADEND                                
025201,002945: 
025202,002946: 25,3565     6244               BIN3               EQUALS   THREE                                 
025203,002947: 

Page 575

025205,002949:                                                                                                  #  PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
025206,002950:                                                                                                  #  MOD. NO.  2      BY  J.D. COYNE    SDC    DATE   12-7-66
025207,002951: 
025208,002952: 
025209,002953:                                                                                                  #  FUNCTIONAL DESCRIPTION_
025210,002954: 
025211,002955:                                                                                                  #  1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
025212,002956:                                                                                                  #  2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
025213,002957:                                                                                                  #  3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
025214,002958: 
025215,002959: 
025216,002960:                                                                                                  #  CALLING SEQUENCE       CALL
025217,002961:                                                                                                  #                                LPS20.1
025218,002962: 
025219,002963:                                                                                                  #  SUBROUTINES CALLED_
025220,002964: 
025221,002965:                                                                                                  #  LEMPREC,CSMPREC
025222,002966: 
025223,002967: 
025224,002968:                                                                                                  #  NORMAL EXIT_ RETURN TO CALLER + 2
025225,002969: 
025226,002970: 
025227,002971:                                                                                                  #  ERROR EXITS_ NONE
025228,002972: 
025229,002973: 
025230,002974:                                                                                                  #  ALARMS_ NONE
025231,002975: 
025232,002976: 
025233,002977:                                                                                                  #  OUTPUT_
025234,002978: 
025235,002979:                                                                                                  #  LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
025236,002980:                                                                                                  #  MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
025237,002981:                                                                                                  #  RRNBSW CLEARED
025238,002982: 
025239,002983: 
025240,002984:                                                                                                  #  INITIALIZED ERASEABLE
025241,002985: 
025242,002986:                                                                                                  #  TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
025243,002987:                                                                                                  #  SEE ORBITAL INTEGRATION ROUTINE
025244,002988: 
025245,002989: 
025246,002990:                                                                                                  #  DEBRIS_
025247,002991: 
025248,002992:                                                                                                  #  MPAC DESTROYED BY THIS ROUTINE
025249,002993: 
025250,002994: 23,2275                                           BANK     23                                    
025251,002995: 24,2000                                           SETLOC   P20S                                  
025252,002996: 24,2000                                           BANK                                           
025253,002997: 

Page 576

025255,002999: 24,3151                                           COUNT*   $$/LPS20                              
025256,003000: 
025257,003001: 24,3151           43020        LPS20.1            STQ      BOFF                                  
025258,003002: 24,3152           01757                                    LS21X                                 
025259,003003: 24,3153           01343                                    LOSCMFLG                              #  LOSCMFLG = 0 MEANS NOT CALLED BY R21
025260,003004: 24,3154           51160                                    LMINT                                 #  SO CALL LEMCONIC TO GET LM STATE
025261,003005: 24,3155           77614                           BON                                            #  IF IN R21 AND ON LUNAR SURFACE
025262,003006: 24,3156           04307                                    SURFFLAG                              #  DON'T CALL LEMCONIC
025263,003007: 24,3157           51170                                    CSMINT                                
025264,003008: 24,3160           77624        LMINT              CALL                                           
025265,003009: 24,3161           27100                                    LEMCONIC                              #  EXTRAPOLATE LEM
025266,003010: 24,3162           77775                           VLOAD                                          
025267,003011: 24,3163           00001                                    RATT                                  
025268,003012: 24,3164           26356                           STOVL    LMPOS                                 #  SAVE LM POSITION B-29
025269,003013: 24,3165           00007                                    VATT                                  
025270,003014: 24,3166           16364                           STODL    LMVEL                                 #  SAVE LM VELOCITY B-7
025271,003015: 24,3167           00015                                    TAT                                   
025272,003016: 24,3170           34041        CSMINT             STCALL   TDEC1                                 
025273,003017: 24,3171           27066                                    CSMCONIC                              #   EXTRAPOLATE CSM
025274,003018: 24,3172           52375                           VLOAD    VSU                                   #  COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
025275,003019: 24,3173           00007                                    VATT                                  
025276,003020: 24,3174           02364                                    LMVEL                                 
025277,003021: 24,3175           76521                           MXV      VSL1                                  
025278,003022: 24,3176           01734                                    REFSMMAT                              
025279,003023: 24,3177           77776                           EXIT                                           
025280,003024: 24,3200           00004                           INHINT                                         
025281,003025: 24,3201           06027                           TC       KILLTASK                              #  KILL THE TASK WHICH CALLS DODES SINCE
025282,003026: 24,3202           52602                           CADR     DESLOOP    +2                         #  STORING INTO ERASEABLES DODES USES
025283,003027: 24,3203           06036                           TC       INTPRET                               
025284,003028: 24,3204           25761                           STOVL    LOSVEL                                
025285,003029: 24,3205           00001                                    RATT                                  
025286,003030: 24,3206           43051                           VSU      BOFF                                  
025287,003031: 24,3207           02356                                    LMPOS                                 
025288,003032: 24,3210           00350                                    RNDVZFLG                              
025289,003033: 24,3211           51217                                    NOTSHIFT                              
025290,003034: 24,3212           77604                           BOVB                                           
025291,003035: 24,3213           57725                                    TCDANZIG                              
025292,003036: 24,3214           41061                           VSL      BOVB                                  
025293,003037: 24,3215           20212                                    9D                                    
025294,003038: 24,3216           50123                                    526ALARM                              
025295,003039: 24,3217           77656        NOTSHIFT           UNIT                                           
025296,003040: 24,3220           76521                           MXV      VSL1                                  
025297,003041: 24,3221           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER
025298,003042: 24,3222           15102                           STODL    RRTARGET                              
025299,003043: 24,3223           00045                                    36D                                   #  SAVE MAGNITUDE OF LOS VECTOR FOR
025300,003044: 24,3224           01767                           STORE    MLOSV                                 #  VELOCITY CORRECTION IN DESIGNATE
025301,003045: 24,3225           77614                           CLRGO                                          
025302,003046: 24,3226           00231                                    RRNBSW                                
025303,003047: 24,3227           01757                                    LS21X                                 
025304,003048: 

Page 577

025306,003050:                                                                                                  #  PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
025307,003051:                                                                                                  #  MOD. NO. 2   BY J.D. COYNE    SDC    DATE  12-7-66
025308,003052: 
025309,003053: 
025310,003054:                                                                                                  #  FUNCTIONAL DESCRIPTION_
025311,003055: 
025312,003056:                                                                                                  #  COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025313,003057: 
025314,003058: 
025315,003059:                                                                                                  #  CALLING SEQUENCE       CALL
025316,003060:                                                                                                  #                                LPS20.2
025317,003061: 
025318,003062: 
025319,003063:                                                                                                  #  SUBROUTINES CALLED_ NONE
025320,003064: 
025321,003065: 
025322,003066:                                                                                                  #  NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025323,003067: 
025324,003068: 
025325,003069:                                                                                                  #  ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025326,003070: 
025327,003071: 
025328,003072:                                                                                                  #  ALARMS_ NONE
025329,003073: 
025330,003074: 
025331,003075:                                                                                                  #  OUTPUT_ NONE
025332,003076: 
025333,003077: 
025334,003078:                                                                                                  #  INITIALIZED ERASEABLE_
025335,003079: 
025336,003080:                                                                                                  #  PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025337,003081:                                                                                                  #  DEBRIS
025338,003082: 
025339,003083:                                                                                                  #  MPAC DESTROYED BY THIS ROUTINE
025340,003084: 
025341,003085: 25,2000                                           SETLOC   P20S1                                 
025342,003086: 25,2000                                           BANK                                           
025343,003087: 25,3565                                           COUNT*   $$/LPS20                              
025344,003088: 
025345,003089: 25,3565           45345        LPS20.2            DLOAD    DSU                                   
025346,003090: 25,3566           01767                                    MLOSV                                 #  MAGNITUDE OF LOS
025347,003091: 25,3567           13600                                    FHNM                                  #  OVER 400NM  _
025348,003092: 25,3570           77644                           BPL                                            
025349,003093: 25,3571           53574                                    TOFAR                                 
025350,003094: 25,3572           43535                           SLOAD    RVQ                                   
025351,003095: 25,3573           06424                                    ZERO/SP                               
025352,003096: 25,3574           43535        TOFAR              SLOAD    RVQ                                   
025353,003097: 25,3575           13577                                    ONE/SP                                
025354,003098: 25,3576           00001        ONE/SP             DEC      1          B-14                       
025355,003099: 

Page 578

025357,003101: 25,3577           26467 00000  FHNM               2DEC     740800     B-20                       #  400 NAUTICAL MILES IN METERS B-20
025358,003102: 

Page 579

025360,003104:                                                                                                  #  PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025361,003105:                                                                                                  #  MOD. NO.: 1       BY:  P. VOLANTE  SDC           DATE:  11-15-66
025362,003106: 
025363,003107: 
025364,003108:                                                                                                  #  FUNCTIONAL DESCRIPTION
025365,003109: 
025366,003110:                                                                                                  #  1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025367,003111:                                                                                                  #  DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025368,003112:                                                                                                  #  RR REPOSITION AND RR CDU FAIL
025369,003113: 
025370,003114:                                                                                                  #  2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025371,003115: 
025372,003116: 
025373,003117:                                                                                                  #  CALLING SEQUENCE: BANKCALL FOR LRS22.1
025374,003118: 
025375,003119: 
025376,003120:                                                                                                  #  SUBROUTINES CALLED:
025377,003121: 
025378,003122:                                                                                                  #         RRRDOT   LPS20.1
025379,003123:                                                                                                  #         RRRANGE  BANKCALL
025380,003124:                                                                                                  #         RADSTALL CDULOGIC
025381,003125:                                                                                                  #         RRNB     SMNB
025382,003126:                                                                                                  #  NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025383,003127: 
025384,003128: 
025385,003129:                                                                                                  #  ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025386,003130: 
025387,003131:                                                                                                  #               00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025388,003132:                                                                                                  #               00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025389,003133: 
025390,003134: 
025391,003135:                                                                                                  #  ALARMS:  521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025392,003136:                                                                                                  #   (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025393,003137: 
025394,003138: 
025395,003139:                                                                                                  #  OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025396,003140:                                                                                                  #          RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025397,003141: 
025398,003142:                                                                                                  #     ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025399,003143: 
025400,003144:                                                                                                  #          RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025401,003145:                                                                                                  #          RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025402,003146:                                                                                                  #          RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025403,003147:                                                                                                  #          AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025404,003148:                                                                                                  #          MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025405,003149: 
025406,003150: 
025407,003151:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
025408,003152: 
025409,003153:                                                                                                  #     RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
025410,003154: 

Page 580

025412,003156:                                                                                                  #      1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025413,003157:                                                                                                  #      2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025414,003158: 
025415,003159:                                                                                                  #     THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025416,003160: 
025417,003161: 
025418,003162:                                                                                                  #  DEBRIS:  LRS22.1X,A,L,Q,PUSHLIST
025419,003163: 
025420,003164: 32,2376                                           BANK     32                                    
025421,003165: 32,2000                                           SETLOC   LRS22                                 
025422,003166: 32,2000                                           BANK                                           
025423,003167: 32,2376                                           COUNT*   $$/LRS22                              
025424,003168: 
025425,003169: 32,2376           04645        LRS22.1            TC       MAKECADR                              
025426,003170: 32,2377           55735                           TS       LRS22.1X                              
025427,003171: 32,2400           05516                           TC       DOWNFLAG                              
025428,003172: 32,2401           00120                           ADRES    RNGSCFLG                              
025429,003173: 32,2402           00004                           INHINT                                         
025430,003174: 32,2403           34751                           CAF      BIT3                                  
025431,003175: 32,2404           00006                           EXTEND                                         #  GET RR RANGE SCALE
025432,003176: 32,2405           02033                           RAND     CHAN33                                #  FROM CHANNEL 33 BIT 3
025433,003177: 32,2406           54001                           TS       L                                     
025434,003178: 32,2407           44751                           CS       BIT3                                  #  AND SET IN RADMODES BIT3
025435,003179: 32,2410           70110                           MASK     RADMODES                              
025436,003180: 32,2411           60001                           AD       L                                     
025437,003181: 32,2412           54110                           TS       RADMODES                              
025438,003182: 32,2413           00003                           RELINT                                         
025439,003183: 32,2414           04616        READRDOT           TC       BANKCALL                              
025440,003184: 32,2415           53103                           CADR     RRRDOT                                #  READ RANGE-RATE (ONE SAMPLE)
025441,003185: 32,2416           04616                           TC       BANKCALL                              
025442,003186: 32,2417           17667                           CADR     RADSTALL                              #  WAIT FOR DATA READ COMPLETION
025443,003187: 32,2420           12540                           TCF      EREXIT1                               #  COULD NOT READ RADAR-ERROR EXIT 1
025444,003188: 
025445,003189: 32,2421           00004                           INHINT                                         #  NO INTERRUPTS WHILE READING TIME AND CDU
025446,003190: 32,2422           53106                           DXCH     TIMEHOLD                              #  SET MARK TIME EQUAL TO THE MID-POINT
025447,003191: 32,2423           53753                           DXCH     MKTIME                                #  TIME OF THE RANGE-RATE READING
025448,003192: 32,2424           53102                           DXCH     SAMPLSUM                              #  SAVE RANGE-RATE READING
025449,003193: 32,2425           53745                           DXCH     RDOTMSAV                              
025450,003194: 32,2426           00006                           EXTEND                                         
025451,003195: 32,2427           30034                           DCA      CDUY                                  #  SAVE ICDU ANGLES
025452,003196: 32,2430           53456                           DXCH     AIG                                   
025453,003197: 32,2431           30032                           CA       CDUX                                  
025454,003198: 32,2432           55457                           TS       AOG                                   
025455,003199: 32,2433           00006                           EXTEND                                         
025456,003200: 32,2434           30025                           DCA      TIME2                                 #   SAVE TIME
025457,003201: 32,2435           52155                           DXCH     MPAC                                  #  SAVE TIME OF CDY READINGS IN MPAC
025458,003202: 32,2436           00006                           EXTEND                                         
025459,003203: 32,2437           30036                           DCA      CDUT                                  #  SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025460,003204: 32,2440           53110                           DXCH     TANG                                  
025461,003205: 

Page 581

025463,003207: 32,2441           00003                           RELINT                                         
025464,003208: 32,2442           04616                           TC       BANKCALL                              
025465,003209: 32,2443           53105                           CADR     RRRANGE                               #  READ RR RANGE (ONE SAMPLE)
025466,003210: 32,2444           04616                           TC       BANKCALL                              
025467,003211: 32,2445           17667                           CADR     RADSTALL                              #  WAIT FOR READ COMPLETE
025468,003212: 32,2446           02534                           TC       CHEXERR                               #  CHECK FOR ERRORS DURING READ
025469,003213: 32,2447           06036                           TC       INTPRET                               
025470,003214: 32,2450           14025                           STODL    20D                                   #  SAVE TIME OF CDU READINGS IN 20D
025471,003215: 32,2451           03745                                    RDOTMSAV                              #  CONVERT RDOT UNITS AND SCALING
025472,003216: 32,2452           57261                           SL       DMPR                                  #  START WITH READING SCALED B-28, -.6278
025473,003217: 32,2453           20217                                    14D                                   #  FT./SECOND PER BIT
025474,003218: 32,2454           24012                                    RDOTCONV                              #  END WITH METERS/CENTISECOND, B-7
025475,003219: 32,2455           17747                           STODL    RDOTM                                 #  STORE FOR USE BY LSR22.3
025476,003220: 32,2456           01110                                    TANG                                  
025477,003221: 32,2457           03751                           STORE    TANGNB                                
025478,003222: 32,2460           47135                           SLOAD    RTB                                   
025479,003223: 32,2461           01110                                    TANG                                  #  GET TRUNION ANGLE
025480,003224: 32,2462           21465                                    CDULOGIC                              #  CONVERT TO DP ONES COMP. IN REVOLUTIONS
025481,003225: 32,2463           03732                           STORE    RRTRUN                                #  AND SAVE FOR TMI ROUTINE (LSR22.3)
025482,003226: 32,2464           47135                           SLOAD    RTB                                   
025483,003227: 32,2465           01111                                    TANG       +1                         #  DITTO FOR SHAFT ANGLE
025484,003228: 32,2466           21465                                    CDULOGIC                              
025485,003229: 32,2467           17734                           STODL    RRSHAFT                               
025486,003230: 32,2470           01102                                    SAMPLSUM                              
025487,003231: 32,2471           66405                           DMP      SL2R                                  #  CONVERT UNITS AND SCALING OF RANGE
025488,003232: 32,2472           24014                                    RANGCONV                              #  PER BIT, END WITH METERS,SCALED -29
025489,003233: 32,2473           37755                           STCALL   RM                                    
025490,003234: 32,2474           46041                                    RRNB                                  #  COMPUTE RADAR LOS USING RRNB
025491,003235: 32,2475           17737                           STODL    RRBORSIT                              #  AND SAVE
025492,003236: 32,2476           00025                                    20D                                   
025493,003237: 32,2477           34041                           STCALL   TDEC1                                 #  GET STATE VECTOR LOS AT TIME OF CDU READ
025494,003238: 32,2500           51151                                    LPS20.1                               
025495,003239: 32,2501           77776                           EXIT                                           
025496,003240: 32,2502           31455                           CA       AIG                                   #  STORE IMU CDU ANGLES AT MARKTIME
025497,003241: 32,2503           54766                           TS       CDUSPOT                               #  IN CDUSPOT FOR TRG*SMNB
025498,003242: 32,2504           31456                           CA       AMG                                   
025499,003243: 32,2505           54770                           TS       CDUSPOT    +2                         
025500,003244: 32,2506           31457                           CA       AOG                                   
025501,003245: 32,2507           54772                           TS       CDUSPOT    +4                         
025502,003246: 32,2510           06036                           TC       INTPRET                               
025503,003247: 32,2511           45175                           VLOAD    CALL                                  #  LOAD VECTOR AND CALL TRANSFORMATION
025504,003248: 32,2512           01102                                    RRTARGET                              
025505,003249: 32,2513           47555                                    TRG*SMNB                              #  ROTATE LOS AT MARKTIME FROM SM TO NB.
025506,003250: 32,2514           77641                           DOT                                            #  DOT WITH RADAR LOS TO GET ANGLE
025507,003251: 32,2515           03737                                    RRBORSIT                              
025508,003252: 32,2516           65552                           SL1      ACOS                                  #  BETWEEN THEM
025509,003253: 32,2517           01046                           STORE    DSPTEM1                               #  STORE FOR POSSIBLE DISPLAY
025510,003254: 32,2520           50025                           DSU      BMN                                   #  IS IT LESS THAN 3 DEGREES
025511,003255: 32,2521           24544                                    THREEDEG                              
025512,003256: 32,2522           64527                                    NORMEXIT                              #  YES-NORMAL EXIT
025513,003257: 

Page 582

025515,003259: 
025516,003260: 32,2523           77776                           EXIT                                           #  ERROR EXIT 2
025517,003261: 32,2524           34752                           CAF      BIT2                                  #  SET ERROR CODE
025518,003262: 32,2525           54154                           TS       MPAC                                  
025519,003263: 32,2526           12532                           TCF      OUT22.1                               
025520,003264: 
025521,003265: 32,2527           77776        NORMEXIT           EXIT                                           #  NORMAL EXIT-SET MPAC EQUAL ZERO
025522,003266: 32,2530           34755                           CAF      ZERO                                  
025523,003267: 32,2531           54154                           TS       MPAC                                  
025524,003268: 32,2532           31735        OUT22.1            CAE      LRS22.1X                              #  EXIT FROM LRS22.1
025525,003269: 32,2533           04640                           TC       BANKJUMP                              
025526,003270: 32,2534           30101        CHEXERR            CAE      FLAGWRD5                              
025527,003271: 32,2535           74742                           MASK     RNGSCBIT                              
025528,003272: 32,2536           10000                           CCS      A                                     #  CHECK IF RANGE SCALE CHANGED
025529,003273: 32,2537           12414                           TCF      READRDOT                              #  YES-TAKE ANOTHER READING
025530,003274: 
025531,003275: 32,2540           34753        EREXIT1            CA       BIT1                                  #  SET ERROR CODE
025532,003276: 32,2541           54154                           TS       MPAC                                  
025533,003277: 32,2542           02532                           TC       OUT22.1                               
025534,003278: 32,2543           00210 21042  THREEDEG           2DEC     .008333333                            #  THREE DEGREES,SCALED  REVS,B0
025535,003279: 32,2545     1101               RRLOSVEC           EQUALS   RRTARGET                              
025536,003280: 

Page 583

025538,003282:                                                                                                  #  PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025539,003283: 
025540,003284: 
025541,003285:                                                                                                  #  MOD. NO. : 1       BY: P VOLANTE  SDC           DATE  4-11-67
025542,003286: 
025543,003287:                                                                                                  #  FUNCTIONAL DESCRIPTION-
025544,003288: 

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

025546,003290:                                                                                                  #     2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025547,003291: 
025548,003292: 
025549,003293:                                                                                                  #  CALLING SEQUENCE- BANKCALL FOR LRS22.2
025550,003294: 
025551,003295: 
025552,003296:                                                                                                  #  SUBROUTINES CALLED: G+N,AUTO   SETMAXDB
025553,003297:                                                                                                  #  NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025554,003298: 
025555,003299: 
025556,003300:                                                                                                  #  ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025557,003301: 
025558,003302: 
025559,003303:                                                                                                  #  ALARMS - NONE                                                            IN THE AUTO MODE
025560,003304: 
025561,003305: 
025562,003306:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
025563,003307:                                                                                                  #       RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025564,003308:                                                                                                  #       RM - RR RANGE, METERS B-29, FROM LRS22.1
025565,003309:                                                                                                  #       BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025566,003310: 
025567,003311: 
025568,003312:                                                                                                  #  DEBRIS -  A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025569,003313: 
025570,003314: 24,2000                                           SETLOC   P20S                                  
025571,003315: 24,2000                                           BANK                                           
025572,003316: 24,3230           04645        LRS22.2            TC       MAKECADR                              
025573,003317: 24,3231           55735                           TS       LRS22.1X                              
025574,003318: 24,3232           06036                           TC       INTPRET                               
025575,003319:                                                                                                  #  CHECK IF RR LOS IS WITHIN 30 DEG OF
025576,003320: 24,3233           65545        30DEGCHK           DLOAD    ACOS                                  #  THE SPACECRAFT +Z AXIS
025577,003321: 24,3234           03743                                    RRBORSIT   +4                         #  BY TAKING ARCCOS OF Z-COMP. OF THE RR
025578,003322:                                                                                                  #  LOS VECTOR,A HALF UNIT VECTOR
025579,003323:                                                                                                  #  IN NAV BASE AXES)
025580,003324: 24,3235           50025                           DSU      BMN                                   
025581,003325: 24,3236           11252                                    30DEG                                 
025582,003326: 24,3237           51244                                    OKEXIT                                #  NORMAL EXIT-WITHIN 30 DEG.
025583,003327: 24,3240           77776                           EXIT                                           #  ERROR EXIT-NOT WITHIN 30 DEG.
025584,003328: 24,3241           34753                           CAF      BIT1                                  #  SET ERROR CODE IN MPAC
025585,003329: 24,3242           54154                           TS       MPAC                                  
025586,003330: 24,3243           13247                           TCF      OUT22.2                               
025587,003331: 24,3244           77776        OKEXIT             EXIT                                           #  NORMAL EXIT-SET MPAC = ZERO
025588,003332: 

Page 584

025590,003334: 24,3245           34755                           CAF      ZERO                                  
025591,003335: 24,3246           54154                           TS       MPAC                                  
025592,003336: 24,3247           31735        OUT22.2            CAE      LRS22.1X                              
025593,003337: 24,3250           04640                           TC       BANKJUMP                              
025594,003338: 
025595,003339: 24,3251           02525 12525  30DEG              2DEC     .083333333                            #  THIRTY DEGREES,SCALED REVS,B0
025596,003340: 

Page 585

025598,003342:                                                                                                  #  PROGRAM NAME - LSR22.3                                                  DATE - 29 MAY 1967
025599,003343:                                                                                                  #  MOD. NO 3                                                               LOG SECTION - P20-25
025600,003344:                                                                                                  #  MOD. BY - DANFORTH                                                      ASSEMBLY LEMP20S REV 10
025601,003345: 
025602,003346:                                                                                                  #  FUNCTIONAL DESCRIPTION
025603,003347: 
025604,003348:                                                                                                  #  THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025605,003349:                                                                                                  #  RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025606,003350:                                                                                                  #  WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025607,003351: 
025608,003352:                                                                                                  #  CALLING SEQUENCE
025609,003353:                                                                                                  #  THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
025610,003354:                                                                                                  #  R22LEM  ONLY AND RETURNS DIRECTLY TO R22LEM  FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025611,003355:                                                                                                  #  COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM  TO DISPLAY
025612,003356:                                                                                                  #  THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM  RETURNS TO    LSR22.3 TO INCORPORATE THE
025613,003357:                                                                                                  #  DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025614,003358:                                                                                                  #  PROCESSED FOR THIS MARK,I.E.,R22LEM  GETS THE NEXT MARK.
025615,003359: 
025616,003360: 
025617,003361:                                                                                                  #  SUBROUTINES CALLED
025618,003362:                                                                                                  #   WLINIT     LGCUPDTE     INTEGRV     INCORP1     ARCTAN
025619,003363:                                                                                                  #   GETULC     RARARANG     INCORP2     NBSM        INTSTALL
025620,003364: 
025621,003365:                                                                                                  #  OUTPUT
025622,003366:                                                                                                  #   CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025623,003367:                                                                                                  #   NUMBER OF MARKS INCORPORATED IN MARKCTR
025624,003368:                                                                                                  #   MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025625,003369:                                                                                                  #   MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025626,003370:                                                                                                  #   UPDATED W-MATRIX
025627,003371: 
025628,003372: 
025629,003373:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
025630,003374:                                                                                                  #   LM AND CSM STATE VECTORS
025631,003375:                                                                                                  #   W-MATRIX
025632,003376:                                                                                                  #   MARK TIME IN MKTIME
025633,003377:                                                                                                  #   RADAR RANGE IN RM METERS B-29
025634,003378:                                                                                                  #         RANGE RATE IN RDOTM METERS/CSES B-7
025635,003379:                                                                                                  #         SHAFT ANGLE IN RRSHAFT REVS.B0
025636,003380:                                                                                                  #         TRUNNION ANGLE IN RRTRUN REVS. B0
025637,003381:                                                                                                  #   GIMBAL ANGLES  INNER IN AIG
025638,003382:                                                                                                  #                  MIDDLE IN AMG
025639,003383:                                                                                                  #                  OUTER IN AOG
025640,003384:                                                                                                  #   REFSMMAT
025641,003385:                                                                                                  #   RENDWFLG
025642,003386:                                                                                                  #   NOANGFLG
025643,003387:                                                                                                  #   VEHUPFLG
025644,003388: 
025645,003389:                                                                                                  #  DEBRIS
025646,003390:                                                                                                  #   PUSHLIST--ALL
025647,003391:                                                                                                  #   MX, MY, MZ  (VECTORS)
025648,003392: 

Page 586

025650,003394:                                                                                                  #   ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
025651,003395: 
025652,003396: 13,2207                                           BANK     13                                    
025653,003397: 26,2000                                           SETLOC   P20S3                                 
025654,003398: 26,2000                                           BANK                                           
025655,003399: 
025656,003400: 26,2370  E7,1454                                  EBANK=   LOSCOUNT                              
025657,003401: 26,2370                                           COUNT*   $$/LSR22                              
025658,003402: 26,2370           77624        LSR22.3            CALL                                           
025659,003403: 26,2371           11165                                    GRP2PC                                
025660,003404: 26,2372           43014                           BON      SET                                   
025661,003405: 26,2373           04307                                    SURFFLAG                              #  ARE WE ON LUNAR SURFACE
025662,003406: 26,2374           55143                                    LSR22.4                               #  YES
025663,003407: 26,2375           02466                                    DMENFLG                               
025664,003408: 26,2376           45014                           BOFF     CALL                                  
025665,003409: 26,2377           00747                                    VEHUPFLG                              
025666,003410: 26,2400           54432                                    DOLEM                                 
025667,003411: 26,2401           27412                                    INTSTALL                              
025668,003412: 26,2402           45014                           CLEAR    CALL                                  #  LM PRECISION INTEGRATION
025669,003413: 26,2403           01674                                    VINTFLAG                              
025670,003414: 26,2404           26644                                    SETIFLGS                              
025671,003415: 26,2405           77624                           CALL                                           
025672,003416: 26,2406           55205                                    INTGRCAL                              
025673,003417: 26,2407           77624                           CALL                                           
025674,003418: 26,2410           11165                                    GRP2PC                                
025675,003419: 26,2411           77624                           CALL                                           
025676,003420: 26,2412           27412                                    INTSTALL                              
025677,003421: 26,2413           43014                           CLEAR    BOFF                                  
025678,003422: 26,2414           01676                                    DIM0FLAG                              
025679,003423: 26,2415           02756                                    RENDWFLG                              
025680,003424: 26,2416           54422                                    NOTWCSM                               
025681,003425: 26,2417           43014                           SET      SET                                   #  CSM WITH W-MATRIX INTEGRATION
025682,003426: 26,2420           01476                                    DIM0FLAG                              
025683,003427: 26,2421           01475                                    D6OR9FLG                              
025684,003428: 26,2422           43014        NOTWCSM            SET      CLEAR                                 
025685,003429: 26,2423           01474                                    VINTFLAG                              
025686,003430: 26,2424           01673                                    INTYPFLG                              
025687,003431: 26,2425           45014                           SET      CALL                                  
025688,003432: 26,2426           01472                                    STATEFLG                              
025689,003433: 26,2427           55205                                    INTGRCAL                              
025690,003434: 26,2430           77650                           GOTO                                           
025691,003435: 26,2431           54462                                    MARKTEST                              
025692,003436: 26,2432           77624        DOLEM              CALL                                           
025693,003437: 26,2433           27412                                    INTSTALL                              
025694,003438: 26,2434           45014                           SET      CALL                                  
025695,003439: 26,2435           01474                                    VINTFLAG                              
025696,003440: 26,2436           26644                                    SETIFLGS                              
025697,003441: 26,2437           77624                           CALL                                           
025698,003442: 26,2440           55205                                    INTGRCAL                              
025699,003443: 

Page 587

025701,003445: 26,2441           77624                           CALL                                           
025702,003446: 26,2442           11165                                    GRP2PC                                
025703,003447: 26,2443           77624                           CALL                                           
025704,003448: 26,2444           27412                                    INTSTALL                              
025705,003449: 26,2445           43014                           CLEAR    BOFF                                  
025706,003450: 26,2446           01676                                    DIM0FLAG                              
025707,003451: 26,2447           02756                                    RENDWFLG                              
025708,003452: 26,2450           54454                                    NOTWLEM                               
025709,003453: 26,2451           43014                           SET      SET                                   #  LM WITH W-MATRIX INTEGRATION
025710,003454: 26,2452           01476                                    DIM0FLAG                              
025711,003455: 26,2453           01475                                    D6OR9FLG                              
025712,003456: 26,2454           43014        NOTWLEM            CLEAR    CLEAR                                 
025713,003457: 26,2455           01673                                    INTYPFLG                              
025714,003458: 26,2456           01674                                    VINTFLAG                              
025715,003459: 26,2457           45014                           SET      CALL                                  
025716,003460: 26,2460           01472                                    STATEFLG                              
025717,003461: 26,2461           55205                                    INTGRCAL                              
025718,003462: 26,2462           45014        MARKTEST           BON      CALL                                  #  HAS W-MATRIX BEEN INVALIDATED
025719,003463: 26,2463           02716                                    RENDWFLG                              #  HAS W-MATRIX BEEN INVALIDATED
025720,003464: 26,2464           54474                                    RANGEBQ                               
025721,003465: 26,2465           55214                                    WLINIT                                #  YES - REINITIALIZE
025722,003466: 26,2466           77776                           EXIT                                           
025723,003467: 26,2467           34755                           CA       ZERO                                  
025724,003468: 26,2470           55743                           TS       R65CNTR                               
025725,003469: 26,2471           04616                           TC       BANKCALL                              
025726,003470: 26,2472           46105                           CADR     R65LEM                                
025727,003471: 26,2473           06036                           TC       INTPRET                               
025728,003472: 26,2474           43174        RANGEBQ            AXT,2    BON                                   #  CLEAR X2.
025729,003473: 26,2475           00000                                    0                                     
025730,003474: 26,2476           04304                                    LMOONFLG                              #  IS MOON SPHERE OF INFLUENCE
025731,003475: 26,2477           54502                                    SETX2                                 #  YES. STORE ZERO IN SCALSHFT REGISTER
025732,003476: 26,2500           77714                           INCR,2                                         
025733,003477: 26,2501           00002                                    2                                     
025734,003478: 26,2502           45134        SETX2              SXA,2    CALL                                  
025735,003479: 26,2503           03716                                    SCALSHFT                              #  0-MOON. 2-EARTH
025736,003480: 26,2504           11165                                    GRP2PC                                
025737,003481: 26,2505           54335                           SLOAD    SR                                    #  GET SINGLE PRECISION RVARMIN (B-12)
025738,003482: 26,2506           01775                                    RVARMIN                               #  SHIFT TO TRIPLE PRECISION    (B-40)
025739,003483: 26,2507           20635                                    28D                                   
025740,003484: 26,2510           77634                           RTB                                            
025741,003485: 26,2511           21537                                    TPMODE                                #  AND SAVE IN 20D
025742,003486: 26,2512           00025                           STORE    20D                                   
025743,003487: 26,2513           77624                           CALL                                           #  BEGIN COMPUTING THE B-VECTORS, DELTAQ
025744,003488: 26,2514           55276                                    GETULC                                #  B-VECTORS FOR RANGE
025745,003489: 26,2515           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
025746,003490: 26,2516           00707                                    VEHUPFLG                              
025747,003491: 26,2517           54520                                    +1                                    
025748,003492: 26,2520           27523                           STOVL    BVECTOR                               
025749,003493: 26,2521           06424                                    ZEROVECS                              
025750,003494: 26,2522           03531                           STORE    BVECTOR    +6                         #  B1
025751,003495: 

Page 588

025753,003497: 26,2523           17537                           STODL    BVECTOR    +12D                       #  B2
025754,003498: 26,2524           00045                                    36D                                   
025755,003499: 26,2525           44257                           SRR*     BDSU                                  
025756,003500: 26,2526           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-29
025757,003501: 26,2527           03755                                    RM                                    #  RM - (MAGNITUDE RCSM-RLM)
025758,003502: 26,2530           77657                           SLR*                                           
025759,003503: 26,2531           56574                                    2,2                                   #  SHIFT TO EARTH/MOON SPHERE
025760,003504: 26,2532           17545                           STODL    DELTAQ                                #  EARTH B-29. MOON B-27
025761,003505: 26,2533           00045                                    36D                                   #  RLC B-29/B-27
025762,003506: 26,2534           63501                           NORM     DSQ                                   #  NORMALIZE AND SQUARE
025763,003507: 26,2535           00047                                    X1                                    
025764,003508: 26,2536           53605                           DMP      SR*                                   
025765,003509: 26,2537           01771                                    RANGEVAR                              #  MULTIPLY BY RANGEVAR(B12) THEN
025766,003510: 26,2540           20577                                    0          -2,1                       #  UNNORMALIZE
025767,003511: 26,2541           53657                           SR*      SR*                                   
025768,003512: 26,2542           20601                                    0,1                                   
025769,003513: 26,2543           57176                                    0,2                                   
025770,003514: 26,2544           47057                           SR*      RTB                                   
025771,003515: 26,2545           57176                                    0,2                                   
025772,003516: 26,2546           21537                                    TPMODE                                
025773,003517: 26,2547           02707                           STORE    VARIANCE                              #  B-40
025774,003518: 26,2550           76276                           DCOMP    TAD                                   
025775,003519: 26,2551           00025                                    20D                                   #    B-40
025776,003520: 26,2552           72240                           BMN      TLOAD                                 
025777,003521: 26,2553           54556                                    QOK                                   
025778,003522: 26,2554           00025                                    20D                                   #    B-40
025779,003523: 26,2555           02707                           STORE    VARIANCE                              
025780,003524: 26,2556           77624        QOK                CALL                                           
025781,003525: 26,2557           55344                                    LGCUPDTE                              
025782,003526: 
025783,003527: 26,2560           77624                           CALL                                           
025784,003528: 26,2561           11165                                    GRP2PC                                
025785,003529: 26,2562           77624                           CALL                                           #  B-VECTOR,DELTAQ FOR RANGE RATE
025786,003530: 26,2563           55276                                    GETULC                                
025787,003531: 26,2564           53725                           PDDL     SR*                                   #  GET RLC SCALED B-29/B-27
025788,003532: 26,2565           00045                                    36D                                   #  AND SHIFT TO B-23
025789,003533: 26,2566           57202                                    0          -4,2                       
025790,003534: 26,2567           24045                           STOVL    36D                                   #  THEN STORE BACK IN 36D
025791,003535: 26,2570           57414                           BON      VCOMP                                 #  B1, COMP. IF LM BEING CORRECTED
025792,003536: 26,2571           00707                                    VEHUPFLG                              
025793,003537: 26,2572           54573                                    +1                                    
025794,003538: 26,2573           77761                           VXSC                                           
025795,003539: 26,2574           00045                                    36D                                   #  B1 = RLC (B-24/B-22)
025796,003540: 26,2575           27531                           STOVL    BVECTOR    +6                         
025797,003541: 26,2576           01653                                    NUVLEM                                
025798,003542: 26,2577           53257                           VSR*     VAD                                   
025799,003543: 26,2600           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
025800,003544: 26,2601           01667                                    VCVLEM                                #  EARTH B-7. MOON B-5
025801,003545: 26,2602           53715                           PDVL     VSR*                                  #  VL TO PD6
025802,003546: 26,2603           01601                                    NUVCSM                                
025803,003547: 

Page 589

025805,003549: 26,2604           57170                                    6,2                                   #  SHIFT FOR EARTH/MOON SPHERE
025806,003550: 26,2605           52255                           VAD      VSU                                   
025807,003551: 26,2606           01615                                    VCVCSM                                
025808,003552: 26,2607           50315                           PDVL     DOT                                   #  VC - VL = VLC TO PD6
025809,003553: 26,2610           00001                                    0                                     
025810,003554: 26,2611           00007                                    6                                     
025811,003555: 26,2612           53606                           PUSH     SRR*                                  #  RDOT B-8/B-6 TO PD12
025812,003556: 26,2613           56174                                    2,2                                   #  SHIFT FROM EARTH/MOON SPHERE TO B-8
025813,003557: 26,2614           57316                           DSQ      DMPR                                  #  RDOT**2 B-16 X RATEVAR B12
025814,003558: 26,2615           01773                                    RATEVAR                               
025815,003559: 26,2616           02707                           STORE    VARIANCE                              
025816,003560: 26,2617           54335                           SLOAD    SR                                    
025817,003561: 26,2620           01776                                    VVARMIN                               #  GET SINGLE PRECISION VVARMIN (B+12)
025818,003562: 26,2621           20621                                    16D                                   #  SHIFT TO DP (B -4)
025819,003563: 26,2622           00031                           STORE    24D                                   #  AND SAVE IN 24D
025820,003564: 26,2623           50025                           DSU      BMN                                   #  IS MIN. VARIANCE > COMPUTED VARIANCE
025821,003565: 26,2624           02707                                    VARIANCE                              
025822,003566: 26,2625           54631                                    VOK                                   #  BRANCH - NO
025823,003567: 26,2626           77745                           DLOAD                                          #  YES - USE MINIMUM VARIANCE
025824,003568: 26,2627           00031                                    24D                                   
025825,003569: 26,2630           02707                           STORE    VARIANCE                              
025826,003570: 26,2631           60545        VOK                DLOAD    SR2                                   #  RDOT(PD12) FROM B-8/B-6
025827,003571: 26,2632           53725                           PDDL     SLR*                                  #  TO B-10/B-8
025828,003572: 26,2633           03747                                    RDOTM                                 #  SHIFT TO EARTH/MOON SPHERE
025829,003573: 26,2634           56577                                    0          -1,2                       #  B-7 TO B-10/B-8
025830,003574: 26,2635           77625                           DSU                                            
025831,003575: 26,2636           77675                           DMPR                                           
025832,003576: 26,2637           00045                                    36D                                   
025833,003577: 26,2640           27545                           STOVL    DELTAQ                                #    B-33
025834,003578: 26,2641           00001                                    0                                     #  NOW GET B0
025835,003579: 26,2642           47235                           VXV      VXV                                   #  (ULC X VLC) X ULC
025836,003580: 26,2643           57414                           BON      VCOMP                                 #  B0, COMP. IF LM BEING CORRECTED
025837,003581: 26,2644           00707                                    VEHUPFLG                              
025838,003582: 26,2645           54646                                    +1                                    
025839,003583: 26,2646           77657                           VSR*                                           
025840,003584: 26,2647           57200                                    0          -2,2                       #  SCALED B-5
025841,003585: 26,2650           27523                           STOVL    BVECTOR                               
025842,003586: 26,2651           06424                                    ZEROVECS                              
025843,003587: 26,2652           00025                           STORE    20D                                   #  ZERO OUT 20 TO 25 IN PUSHLIST
025844,003588: 26,2653           27537                           STOVL    BVECTOR    +12D                       
025845,003589: 26,2654           03523                                    BVECTOR                               
025846,003590: 26,2655           60246                           ABVAL    NORM                                  #  LOAD B0, GET MAGNITUDE AND NORMALIZE
025847,003591: 26,2656           00025                                    20D                                   #  SHIFT COUNT IN 20D
025848,003592: 26,2657           51575                           VLOAD    ABVAL                                 
025849,003593: 26,2660           03531                                    BVECTOR    +6D                        #  LOAD B1, GET MAGNITUDE AND NORMALIZE
025850,003594: 26,2661           71301                           NORM     DLOAD                                 
025851,003595: 26,2662           00027                                    22D                                   #  SHIFT COUNT IN 22D
025852,003596: 26,2663           00027                                    22D                                   #  FIND WHICH SHIFT IS SMALLER
025853,003597: 26,2664           50025                           DSU      BMN                                   #  BRANCH- B0 HAS SMALLER SHIFT COUNT
025854,003598: 26,2665           00025                                    20D                                   
025855,003599: 

Page 590

025857,003601: 26,2666           54672                                    VOK1                                  
025858,003602: 26,2667           52150                           LXA,1    GOTO                                  
025859,003603: 26,2670           00026                                    22D                                   #  LOAD X2 WITH THE SMALLER SHIFT COUNT
025860,003604: 26,2671           54674                                    VOK2                                  
025861,003605: 26,2672           77750        VOK1               LXA,1                                          
025862,003606: 26,2673           00024                                    20D                                   
025863,003607: 26,2674           53775        VOK2               VLOAD    VSL*                                  #  THEN ADJUST B0,B1,DELTAQ AND VARIANCE
025864,003608: 26,2675           03523                                    BVECTOR                               #  WITH THI SSHIFT COUNT
025865,003609: 26,2676           20201                                    0,1                                   
025866,003610: 26,2677           27523                           STOVL    BVECTOR                               
025867,003611: 26,2700           03531                                    BVECTOR    +6                         
025868,003612: 26,2701           77657                           VSL*                                           
025869,003613: 26,2702           20201                                    0,1                                   
025870,003614: 26,2703           17531                           STODL    BVECTOR    +6                         
025871,003615: 26,2704           03545                                    DELTAQ                                
025872,003616: 26,2705           77657                           SL*                                            
025873,003617: 26,2706           20201                                    0,1                                   
025874,003618: 26,2707           03545                           STORE    DELTAQ                                
025875,003619: 26,2710           53745                           DLOAD    SL*                                   #  GET RLC AND ADJUST FOR SCALE SHIFT
025876,003620: 26,2711           00045                                    36D                                   
025877,003621: 26,2712           20200                                    0          -1,1                       
025878,003622: 26,2713           41316                           DSQ      DMP                                   #  MULTIPLY RLC**2 BY VARIANCE
025879,003623: 26,2714           02707                                    VARIANCE                              
025880,003624: 26,2715           47012                           SL4      RTB                                   #  SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025881,003625: 26,2716           21537                                    TPMODE                                
025882,003626: 26,2717           36707                           STCALL   VARIANCE                              #  AND STORE TP VARIANCE
025883,003627: 26,2720           55344                                    LGCUPDTE                              
025884,003628: 
025885,003629: 26,2721           77624                           CALL                                           
025886,003630: 26,2722           11165                                    GRP2PC                                
025887,003631: 26,2723           77414                           BON      EXIT                                  #  ARE ANGLES TO BE DONE
025888,003632: 26,2724           04307                                    SURFFLAG                              
025889,003633: 26,2725           55141                                    RENDEND                               #  NO
025890,003634: 26,2726  E7,1455                                  EBANK=   AIG                                   
025891,003635: 26,2726           33275        MXMYMZ             CAF      AIGBANK                               
025892,003636: 26,2727           54006                           TS       BBANK                                 
025893,003637: 26,2730           31455                           CA       AIG                                   #  YES, COMPUTE  MX, MY, MZ
025894,003638: 26,2731           54766                           TS       CDUSPOT                               
025895,003639: 26,2732           31456                           CA       AMG                                   
025896,003640: 26,2733           54770                           TS       CDUSPOT    +2                         
025897,003641: 26,2734           31457                           CA       AOG                                   
025898,003642: 26,2735           54772                           TS       CDUSPOT    +4                         #  GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025899,003643: 26,2736           06036                           TC       INTPRET                               
025900,003644: 26,2737           45175                           VLOAD    CALL                                  
025901,003645: 26,2740           06422                                    UNITX                                 
025902,003646: 26,2741           47570                                    TRG*NBSM                              
025903,003647: 26,2742           76505                           VXM      VSL1                                  
025904,003648: 26,2743           01734                                    REFSMMAT                              
025905,003649: 26,2744           27675                           STOVL    MX                                    
025906,003650: 26,2745           06420                                    UNITY                                 
025907,003651: 

Page 591

025909,003653: 26,2746           77624                           CALL                                           
025910,003654: 26,2747           47577                                    *NBSM*                                
025911,003655: 26,2750           76505                           VXM      VSL1                                  
025912,003656: 26,2751           01734                                    REFSMMAT                              
025913,003657: 26,2752           27703                           STOVL    MY                                    
025914,003658: 26,2753           06416                                    UNITZ                                 
025915,003659: 26,2754           77624                           CALL                                           
025916,003660: 26,2755           47577                                    *NBSM*                                
025917,003661: 26,2756           76505                           VXM      VSL1                                  
025918,003662: 26,2757           01734                                    REFSMMAT                              
025919,003663: 26,2760           37711        SHAFTBQ            STCALL   MZ                                    
025920,003664: 26,2761           55324                                    RADARANG                              
025921,003665: 26,2762           77624                           CALL                                           
025922,003666: 26,2763           11165                                    GRP2PC                                
025923,003667: 26,2764           50375                           VLOAD    DOT                                   #  COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025924,003668: 26,2765           03722                                    ULC                                   
025925,003669: 26,2766           03675                                    MX                                    
025926,003670: 26,2767           77752                           SL1                                            
025927,003671: 26,2770           24023                           STOVL    SINTH                                 #  18D
025928,003672: 26,2771           03722                                    ULC                                   
025929,003673: 26,2772           72441                           DOT      SL1                                   
025930,003674: 26,2773           03711                                    MZ                                    
025931,003675: 26,2774           34021                           STCALL   COSTH                                 #  16D
025932,003676: 26,2775           26510                                    ARCTAN                                
025933,003677: 26,2776           41221                           BDSU     DMP                                   
025934,003678: 26,2777           03734                                    RRSHAFT                               
025935,003679: 26,3000           15404                                    2PI/8                                 
025936,003680: 26,3001           41472                           SL3R     PUSH                                  
025937,003681: 26,3002           52545                           DLOAD    SL3                                   
025938,003682: 26,3003           01701                                    X789                                  
025939,003683: 26,3004           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
025940,003684: 26,3005           56176                                    0,2                                   
025941,003685: 26,3006           53605                           DMP      SRR*                                  
025942,003686: 26,3007           03720                                    RXZ                                   
025943,003687: 26,3010           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025944,003688: 26,3011           27545                           STOVL    DELTAQ                                #  EARTH B-29. MOON B-27
025945,003689: 26,3012           03722                                    ULC                                   
025946,003690: 26,3013           76435                           VXV      VSL1                                  
025947,003691: 26,3014           03703                                    MY                                    
025948,003692: 26,3015           77656                           UNIT                                           
025949,003693: 26,3016           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025950,003694: 26,3017           00747                                    VEHUPFLG                              
025951,003695: 26,3020           55021                                    +1                                    
025952,003696: 26,3021           27523                           STOVL    BVECTOR                               
025953,003697: 26,3022           06424                                    ZEROVECS                              
025954,003698: 26,3023           03531                           STORE    BVECTOR    +6                         
025955,003699: 26,3024           17537                           STODL    BVECTOR    +12D                       
025956,003700: 26,3025           03720                                    RXZ                                   
025957,003701: 26,3026           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
025958,003702: 26,3027           20577                                    0          -2,1                       
025959,003703: 

Page 592

025961,003705: 26,3030           56176                                    0,2                                   
025962,003706: 26,3031           03537                           STORE    BVECTOR    +12D                       
025963,003707: 26,3032           77735                           SLOAD                                          
025964,003708: 26,3033           02011                                    SHAFTVAR                              
025965,003709: 26,3034           41215                           DAD      DMP                                   
025966,003710: 26,3035           15401                                    IMUVAR                                #  RAD**2 B12
025967,003711: 26,3036           03720                                    RXZ                                   
025968,003712: 26,3037           41257                           SRR*     DMP                                   
025969,003713: 26,3040           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
025970,003714: 26,3041           03720                                    RXZ                                   
025971,003715: 26,3042           53657                           SR*      SR*                                   
025972,003716: 26,3043           20577                                    0          -2,1                       
025973,003717: 26,3044           57176                                    0,2                                   
025974,003718: 26,3045           47057                           SR*      RTB                                   
025975,003719: 26,3046           57176                                    0,2                                   
025976,003720: 26,3047           21537                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
025977,003721: 26,3050           36707                           STCALL   VARIANCE                              #  B-40
025978,003722: 26,3051           55344                                    LGCUPDTE                              
025979,003723: 
025980,003724: 26,3052           77624                           CALL                                           
025981,003725: 26,3053           11165                                    GRP2PC                                
025982,003726: 26,3054           77624        TRUNBQ             CALL                                           
025983,003727: 26,3055           55324                                    RADARANG                              
025984,003728: 26,3056           77624                           CALL                                           
025985,003729: 26,3057           11165                                    GRP2PC                                
025986,003730: 26,3060           47375                           VLOAD    VXV                                   
025987,003731: 26,3061           03722                                    ULC                                   
025988,003732: 26,3062           03703                                    MY                                    
025989,003733: 26,3063           47372                           VSL1     VXV                                   
025990,003734: 26,3064           03722                                    ULC                                   
025991,003735: 26,3065           77772                           VSL1                                           #  (ULC X MY) X ULC
025992,003736: 26,3066           57414                           BOFF     VCOMP                                 #  B0, COMP. IF CSM BEING CORRECTED
025993,003737: 26,3067           00747                                    VEHUPFLG                              
025994,003738: 26,3070           55071                                    +1                                    
025995,003739: 26,3071           27523                           STOVL    BVECTOR                               
025996,003740: 26,3072           06424                                    ZEROVECS                              
025997,003741: 26,3073           03531                           STORE    BVECTOR    +6                         
025998,003742: 26,3074           17537                           STODL    BVECTOR    +12D                       
025999,003743: 26,3075           03720                                    RXZ                                   
026000,003744: 26,3076           53657                           SR*      SRR*                                  #  SHIFT FROM EARTH/MOON SPHERE TO B-25
026001,003745: 26,3077           20577                                    0          -2,1                       
026002,003746: 26,3100           56176                                    0,2                                   
026003,003747: 26,3101           03541                           STORE    BVECTOR    +14D                       
026004,003748: 26,3102           77735                           SLOAD                                          
026005,003749: 26,3103           02012                                    TRUNVAR                               
026006,003750: 26,3104           41215                           DAD      DMP                                   
026007,003751: 26,3105           15401                                    IMUVAR                                
026008,003752: 26,3106           03720                                    RXZ                                   
026009,003753: 26,3107           41257                           SRR*     DMP                                   
026010,003754: 26,3110           21601                                    0,1                                   #  SHIFT TO EARTH/MOON SPHERE
026011,003755: 

Page 593

026013,003757: 26,3111           03720                                    RXZ                                   
026014,003758: 26,3112           53657                           SR*      SR*                                   
026015,003759: 26,3113           20577                                    0          -2,1                       
026016,003760: 26,3114           57176                                    0,2                                   
026017,003761: 26,3115           47057                           SR*      RTB                                   
026018,003762: 26,3116           57176                                    0,2                                   
026019,003763: 26,3117           21537                                    TPMODE                                #  STORE VARIANCE TRIPLE PRECISION
026020,003764: 26,3120           16707                           STODL    VARIANCE                              
026021,003765: 26,3121           03730                                    SINTHETA                              
026022,003766: 26,3122           44336                           ASIN     BDSU                                  #  SIN THETA IN PD6
026023,003767: 26,3123           03732                                    RRTRUN                                
026024,003768: 26,3124           56405                           DMP      SL3R                                  
026025,003769: 26,3125           15404                                    2PI/8                                 
026026,003770: 26,3126           52525                           PDDL     SL3                                   
026027,003771: 26,3127           01703                                    X789       +2                         
026028,003772: 26,3130           44257                           SRR*     BDSU                                  #  SHIFT FROM -5/-3 TO B0
026029,003773: 26,3131           56176                                    0,2                                   
026030,003774: 26,3132           53605                           DMP      SRR*                                  
026031,003775: 26,3133           03720                                    RXZ                                   
026032,003776: 26,3134           21601                                    0,1                                   
026033,003777: 26,3135           37545                           STCALL   DELTAQ                                #  EARTH B-29. MOON B-27
026034,003778: 26,3136           55344                                    LGCUPDTE                              
026035,003779: 26,3137           77624                           CALL                                           
026036,003780: 26,3140           11165                                    GRP2PC                                
026037,003781: 26,3141           77650        RENDEND            GOTO                                           
026038,003782: 26,3142           50614                                    R22LEM93                              
026039,003783:                                                                                                  #  FUNCTIONAL DESCRIPTION
026040,003784: 
026041,003785:                                                                                                  #  LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
026042,003786:                                                                                                  #  COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
026043,003787:                                                                                                  #  AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
026044,003788: 
026045,003789:                                                                                                  #  SUBROUTINES CALLED
026046,003790:                                                                                                  #   INSTALL   LGCUPDTE  INCORP1   RP-TO-R
026047,003791:                                                                                                  #   INTEGRV   GETULC    INCORP2
026048,003792: 
026049,003793:                                                                                                  #  OUTPUT
026050,003794:                                                                                                  #   CORRECTED CSM STATE VECTOR (PERMANENT)
026051,003795:                                                                                                  #   NUMBER OF MARKS INCORPORATED IN MARKCTR
026052,003796:                                                                                                  #   MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
026053,003797:                                                                                                  #   MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
026054,003798:                                                                                                  #   UPDATED W-MATRIX
026055,003799: 
026056,003800:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
026057,003801:                                                                                                  #   LM AND CSM STATE VECTORS
026058,003802:                                                                                                  #   W-MATRIX
026059,003803:                                                                                                  #   MARK TIME IN MKTIME
026060,003804:                                                                                                  #   RADAR RANGE IN RM METERS B-29
026061,003805:                                                                                                  #         RANGE RATE IN RDOTM METERS/CSEC B-7
026062,003806:                                                                                                  #   VEHUPFLG
026063,003807: 

Page 594

026065,003809: 26,3143           77624        LSR22.4            CALL                                           
026066,003810: 26,3144           27412                                    INTSTALL                              
026067,003811: 26,3145           43014                           SET      CLEAR                                 
026068,003812: 26,3146           01472                                    STATEFLG                              
026069,003813: 26,3147           01674                                    VINTFLAG                              #  CALL TO GET LM POS + VEL IN REF COORD.
026070,003814: 26,3150           77624                           CALL                                           
026071,003815: 26,3151           55205                                    INTGRCAL                              
026072,003816: 26,3152           77624                           CALL                                           
026073,003817: 26,3153           11165                                    GRP2PC                                
026074,003818: 26,3154           45014                           CLEAR    CALL                                  
026075,003819: 26,3155           02666                                    DMENFLG                               #  SET MATRIX SIZE TO 6X6 FOR INCORP
026076,003820: 26,3156           27412                                    INTSTALL                              
026077,003821: 26,3157           46145                           DLOAD    BHIZ                                  #  IS THIS FIRST TIME THROUGH
026078,003822: 26,3160           03461                                    MARKCTR                               
026079,003823: 26,3161           55174                                    INITWMX6                              #  YES. INITIALIZE 6X6 W-MATRIX
026080,003824: 26,3162           43014                           CLEAR    SET                                   
026081,003825: 26,3163           01675                                    D6OR9FLG                              
026082,003826: 26,3164           01476                                    DIM0FLAG                              
026083,003827: 26,3165           43014                           SET      CLEAR                                 
026084,003828: 26,3166           01474                                    VINTFLAG                              
026085,003829: 26,3167           01673                                    INTYPFLG                              
026086,003830: 26,3170           77624                           CALL                                           
026087,003831: 26,3171           55205                                    INTGRCAL                              
026088,003832: 26,3172           77650                           GOTO                                           
026089,003833: 26,3173           54474                                    RANGEBQ                               
026090,003834: 
026091,003835: 26,3174           77624        INITWMX6           CALL                                           
026092,003836: 26,3175           55214                                    WLINIT                                #  INITIALIZE W-MATRIX
026093,003837: 26,3176           45014                           SET      CALL                                  
026094,003838: 26,3177           01474                                    VINTFLAG                              
026095,003839: 26,3200           26644                                    SETIFLGS                              
026096,003840: 26,3201           77624                           CALL                                           
026097,003841: 26,3202           55205                                    INTGRCAL                              
026098,003842: 26,3203           77650                           GOTO                                           
026099,003843: 26,3204           54474                                    RANGEBQ                               
026100,003844: 
026101,003845:                                                                                                  #  THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
026102,003846: 
026103,003847: 26,3205           71220        INTGRCAL           STQ      DLOAD                                 
026104,003848: 26,3206           03673                                    IGRET                                 
026105,003849: 26,3207           03753                                    MKTIME                                
026106,003850: 26,3210           34041                           STCALL   TDEC1                                 
026107,003851: 26,3211           27134                                    INTEGRV                               
026108,003852: 26,3212           77650                           GOTO                                           
026109,003853: 26,3213           03673                                    IGRET                                 
026110,003854: 
026111,003855:                                                                                                  #  THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
026112,003856:                                                                                                  #  DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
026113,003857: 
026114,003858: 26,3214  E5,1400                                  EBANK=   W                                     
026115,003859: 

Page 595

026117,003861: 26,3214           77776        WLINIT             EXIT                                           
026118,003862: 26,3215           33274                           CAF      WBANK                                 
026119,003863: 26,3216           54006                           TS       BBANK                                 
026120,003864: 26,3217           33402                           CAF      WSIZE                                 
026121,003865: 26,3220           55257                           TS       W.IND                                 
026122,003866: 26,3221           34755                           CAF      ZERO                                  
026123,003867: 26,3222           51257                           INDEX    W.IND                                 
026124,003868: 26,3223           55400                           TS       W                                     
026125,003869: 26,3224           11257                           CCS      W.IND                                 
026126,003870: 26,3225           03220                           TC       -5                                    
026127,003871: 26,3226           33275                           CAF      AIGBANK                               #  RESTORE EBANK 7
026128,003872: 26,3227           54006                           TS       BBANK                                 
026129,003873: 26,3230           06036                           TC       INTPRET                               
026130,003874: 26,3231           67214                           BON      SLOAD                                 #  IF ON LUNAR SURFACE,INITIALIZE WITH
026131,003875: 26,3232           04307                                    SURFFLAG                              #  WSURFPOS AND WSURFVEL INSTEAD OF
026132,003876: 26,3233           55237                                    WLSRFPOS                              #  WRENDPOS AND WRENDVEL
026133,003877: 26,3234           02001                                    WRENDPOS                              
026134,003878: 26,3235           77650                           GOTO                                           
026135,003879: 26,3236           55241                                    WPOSTORE                              
026136,003880: 26,3237           77735        WLSRFPOS           SLOAD                                          
026137,003881: 26,3240           02007                                    WSURFPOS                              
026138,003882: 26,3241           77661        WPOSTORE           SR                                             #  SHIFT TO B-19 SCALE
026139,003883: 26,3242           20606                                    5                                     
026140,003884: 26,3243           02401                           STORE    W                                     
026141,003885: 26,3244           02411                           STORE    W          +8D                        
026142,003886: 26,3245           02421                           STORE    W          +16D                       
026143,003887: 26,3246           67214                           BON      SLOAD                                 
026144,003888: 26,3247           04307                                    SURFFLAG                              
026145,003889: 26,3250           55254                                    WLSRFVEL                              
026146,003890: 26,3251           02002                                    WRENDVEL                              
026147,003891: 26,3252           77650                           GOTO                                           
026148,003892: 26,3253           55256                                    WVELSTOR                              
026149,003893: 26,3254           77735        WLSRFVEL           SLOAD                                          
026150,003894: 26,3255           02010                                    WSURFVEL                              
026151,003895: 26,3256           02511        WVELSTOR           STORE    W          +72D                       
026152,003896: 26,3257           02521                           STORE    W          +80D                       
026153,003897: 26,3260           02531                           STORE    W          +88D                       
026154,003898: 26,3261           77735                           SLOAD                                          
026155,003899: 26,3262           02003                                    WSHAFT                                
026156,003900: 26,3263           02621                           STORE    W          +144D                      
026157,003901: 26,3264           77735                           SLOAD                                          
026158,003902: 26,3265           02004                                    WTRUN                                 
026159,003903: 26,3266           02631                           STORE    W          +152D                      
026160,003904: 26,3267           66214                           SET      SSP                                   #  SET RENDWFLG - W-MATRIX VALID
026161,003905: 26,3270           02476                                    RENDWFLG                              
026162,003906: 26,3271           03461                                    MARKCTR                               #  SET MARK COUNTER EQUAL ZERO
026163,003907: 26,3272           00000                                    0                                     
026164,003908: 26,3273           77616                           RVQ                                            
026165,003909: 
026166,003910: 26,3274  E5,1400                                  EBANK=   W                                     
026167,003911: 

Page 596

026169,003913: 26,3274           54065        WBANK              BBCON    WLINIT                                
026170,003914: 26,3275  E7,1455                                  EBANK=   AIG                                   
026171,003915: 26,3275           54067        AIGBANK            BBCON    LSR22.3                               
026172,003916: 
026173,003917:                                                                                                  #  GETULC
026174,003918: 
026175,003919:                                                                                                  #  THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
026176,003920:                                                                                                  #  AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
026177,003921:                                                                                                  #  MAGNITUDE IN 36D.
026178,003922: 
026179,003923: 26,3276           77201        GETULC             SETPD    VLOAD                                 
026180,003924: 26,3277           00001                                    0                                     
026181,003925: 26,3300           01645                                    DELTALEM                              
026182,003926: 26,3301           77754                           LXA,2                                          
026183,003927: 26,3302           03716                                    SCALSHFT                              #  LOAD X2 WITH SCALE SHIFT
026184,003928: 26,3303           53257                           VSR*     VAD                                   
026185,003929: 26,3304           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
026186,003930: 26,3305           01661                                    RCVLEM                                
026187,003931: 26,3306           53715                           PDVL     VSR*                                  
026188,003932: 26,3307           01573                                    DELTACSM                              
026189,003933: 26,3310           57165                                    9D,2                                  #  SHIFT FOR EARTH/MOON SPHERE
026190,003934: 26,3311           52255                           VAD      VSU                                   
026191,003935: 26,3312           01607                                    RCVCSM                                
026192,003936: 26,3313           41434                           RTB      PUSH                                  #  USE NORMUNIT TO PRESERVE ACCURACY
026193,003937: 26,3314           21676                                    NORMUNX1                              
026194,003938: 26,3315           17722                           STODL    ULC                                   
026195,003939: 26,3316           00045                                    36D                                   
026196,003940: 26,3317           77657                           SL*                                            #  ADJUST MAGNITUDE FROM NORMUNIT
026197,003941: 26,3320           20201                                    0,1                                   
026198,003942: 26,3321           24045                           STOVL    36D                                   #  ULC IN PD0 AND MPAC,RLC IN 36D
026199,003943: 26,3322           03722                                    ULC                                   
026200,003944: 26,3323           77616                           RVQ                                            
026201,003945: 
026202,003946:                                                                                                  #  RADARANG
026203,003947: 
026204,003948:                                                                                                  #  THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
026205,003949:                                                                                                  #  RXZ = (SQRT (1-SINTHETA**2))RLC
026206,003950:                                                                                                  #  OUTPUT
026207,003951:                                                                                                  #   ULC IN ULC, PD0
026208,003952:                                                                                                  #   RLC IN PD36D
026209,003953:                                                                                                  #   SIN THETA IN SINTHETA AND PD6
026210,003954:                                                                                                  #   RXZ NORM IN RXZ (N IN X1)
026211,003955: 26,3324           45020        RADARANG           STQ      CALL                                  
026212,003956: 26,3325           03673                                    RDRET                                 
026213,003957: 26,3326           55276                                    GETULC                                
026214,003958: 26,3327           50276                           VCOMP    DOT                                   
026215,003959: 26,3330           03703                                    MY                                    
026216,003960: 26,3331           41572                           SL1R     PUSH                                  #  SIN THETA TO PD6
026217,003961: 26,3332           03730                           STORE    SINTHETA                              
026218,003962: 26,3333           44316                           DSQ      BDSU                                  
026219,003963: 26,3334           06414                                    DP1/4TH                               #  1 - (SIN THETA)**2
026220,003964: 

Page 597

026222,003966: 26,3335           41366                           SQRT     DMP                                   
026223,003967: 26,3336           00045                                    36D                                   
026224,003968: 26,3337           60352                           SL1      NORM                                  
026225,003969: 26,3340           00047                                    X1                                    #  SET SHIFT COUNTER IN X1
026226,003970: 26,3341           03720                           STORE    RXZ                                   
026227,003971: 26,3342           77650                           GOTO                                           #  EXIT
026228,003972: 26,3343           03673                                    RDRET                                 
026229,003973: 26,3344           45020        LGCUPDTE           STQ      CALL                                  
026230,003974: 26,3345           03673                                    LGRET                                 
026231,003975: 26,3346           46433                                    INCORP1                               
026232,003976: 26,3347           51575                           VLOAD    ABVAL                                 
026233,003977: 26,3350           02673                                    DELTAX     +6                         
026234,003978: 26,3351           53754                           LXA,2    SRR*                                  
026235,003979: 26,3352           03716                                    SCALSHFT                              #  0 - MOON.  2 - EARTH
026236,003980: 26,3353           56174                                    2,2                                   #  SET VEL DISPLAY TO B-7
026237,003981: 26,3354           24317                           STOVL    R22DISP    +2                         
026238,003982: 26,3355           02665                                    DELTAX                                
026239,003983: 26,3356           53646                           ABVAL    SRR*                                  
026240,003984: 26,3357           56174                                    2,2                                   #  SET POS DISPLAY TO B-29
026241,003985: 26,3360           00315                           STORE    R22DISP                               
026242,003986: 26,3361           54335                           SLOAD    SR                                    
026243,003987: 26,3362           02005                                    RMAX                                  
026244,003988: 26,3363           20613                                    10D                                   
026245,003989: 26,3364           50025                           DSU      BMN                                   
026246,003990: 26,3365           00315                                    R22DISP                               
026247,003991: 26,3366           50620                                    R22LEM96                              #  GO DISPLAY
026248,003992: 26,3367           45335                           SLOAD    DSU                                   
026249,003993: 26,3370           02006                                    VMAX                                  
026250,003994: 26,3371           00317                                    R22DISP    +2                         #  VMAX MINUS VEL. DEVIATION
026251,003995: 26,3372           77640                           BMN                                            
026252,003996: 26,3373           50620                                    R22LEM96                              #  GO DISPLAY
026253,003997: 26,3374           77624        ASTOK              CALL                                           
026254,003998: 26,3375           46645                                    INCORP2                               
026255,003999: 26,3376           77650                           GOTO                                           
026256,004000: 26,3377           03673                                    LGRET                                 
026257,004001: 26,3400           00103 03370  IMUVAR             2DEC     E-6        B12                        #  RAD**2
026258,004002: 
026259,004003: 26,3402           00241        WSIZE              DEC      161        B-14                       
026260,004004: 26,3403           31103 36652  2PI/8              2DEC     3.141592653 B-2                        
026261,004005: 26,3405  E7,1454                                  EBANK=   LOSCOUNT                              
026262,004006: 

Page 598

026264,004008:                                                                                                  #  PROGRAM NAME LRS24.1   RR SEARCH ROUTINE
026265,004009:                                                                                                  #  MOD NO  0        BY  P VOLANTE  SDC          DATE 1-15-67
026266,004010: 
026267,004011: 
026268,004012:                                                                                                  #  FUNCTIONAL DESCRIPTION
026269,004013: 
026270,004014:                                                                                                  #  DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026271,004015:                                                                                                  #  STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026272,004016:                                                                                                  #  LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026273,004017:                                                                                                  #  ATTITUDE MANEUVER.
026274,004018: 
026275,004019: 
026276,004020:                                                                                                  #  CALLING SEQUENCE - BANKCALL FOR LRS24.1
026277,004021: 
026278,004022: 
026279,004023:                                                                                                  #  SUBROUTINES CALLED
026280,004024: 
026281,004025:                                                                                                  #        LEMCONIC      R61LEM
026282,004026:                                                                                                  #        CSMCONIC      RRDESSM
026283,004027:                                                                                                  #        JOBDELAY      FLAGDOWN
026284,004028:                                                                                                  #        WAITLIST      FLAGUP
026285,004029:                                                                                                  #        RRNB          BANKCALL
026286,004030: 
026287,004031: 
026288,004032:                                                                                                  #  EXIT -  TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026289,004033: 
026290,004034: 
026291,004035:                                                                                                  #  OUTPUT
026292,004036: 
026293,004037:                                                                                                  #      DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026294,004038:                                                                                                  #                                       11111 INDICATES LOCKON ACHIEVED
026295,004039:                                                                                                  #      OMEGAD   (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026296,004040: 
026297,004041:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
026298,004042:                                                                                                  #     SEARCH FLAG MUST BE SET
026299,004043:                                                                                                  #     LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026300,004044:                                                                                                  #  DEBRIS
026301,004045: 
026302,004046:                                                                                                  #     RLMSRCH      UXVECT
026303,004047:                                                                                                  #     VXRLM        UYVECT
026304,004048:                                                                                                  #     LOSDESRD     NSRCHPNT
026305,004049:                                                                                                  #     DATAGOOD     OMEGAD
026306,004050:                                                                                                  #     MPAC         PUSHLIST
026307,004051: 
026308,004052: 26,3405                                           COUNT*   $$/LRS24                              
026309,004053: 26,3405           34755        LRS24.1            CAF      ZERO                                  
026310,004054: 26,3406           55734                           TS       NSRCHPNT                              #  SET SEARCH PATTERN POINT COUNTER TO ZERO
026311,004055: 26,3407           34736        CHKSRCH            CAF      BIT14                                 #  ISSUE AUTO TRACK ENABLE TO RADAR
026312,004056: 26,3410           00006                           EXTEND                                         
026313,004057: 

Page 599

026315,004059: 26,3411           05012                           WOR      CHAN12                                
026316,004060: 26,3412           34736                           CAF      SRCHOBIT                              #  CHECK IF SEARCH STILL REQUESTED
026317,004061: 26,3413           70076                           MASK     FLAGWRD2                              #  (SRCHOPT FLAG SET)
026318,004062: 26,3414           00006                           EXTEND                                         
026319,004063: 26,3415           15155                           BZF      ENDOFJOB                              #  NO-TERMINATE JOB
026320,004064: 
026321,004065: 
026322,004066: 26,3416           33655                           CAF      6SECONDS                              #  SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026323,004067: 26,3417           00004                           INHINT                                         
026324,004068: 26,3420           05203                           TC       WAITLIST                              #  IN 6 SECONDS
026325,004069: 26,3421  E7,1454                                  EBANK=   LOSCOUNT                              
026326,004070: 26,3421           03605 54067                     2CADR    CALLDGCH                              
026327,004071: 26,3423           00003                           RELINT                                         
026328,004072: 26,3424           40110                           CS       RADMODES                              #  IS REMODE IN PROGRESS
026329,004073: 26,3425           74736                           MASK     BIT14                                 #  (BIT 14 RADMODES = 1)
026330,004074: 26,3426           00006                           EXTEND                                         
026331,004075: 26,3427           15155                           BZF      ENDOFJOB                              #  YES- WAIT SIX SECONDS
026332,004076: 26,3430           06036                           TC       INTPRET                               
026333,004077: 
026334,004078: 26,3431           77634                           RTB                                            
026335,004079: 26,3432           21462                                    LOADTIME                              
026336,004080: 26,3433           34041        LRS24.11           STCALL   TDEC1                                 
026337,004081: 26,3434           27100                                    LEMCONIC                              #  EXTRAPOLATE LM STATE VECTOR
026338,004082: 26,3435           77775                           VLOAD                                          
026339,004083: 26,3436           00001                                    RATT                                  
026340,004084: 26,3437           27674                           STOVL    RLMSRCH                               #  SAVE LEM POSITION
026341,004085: 26,3440           00007                                    VATT                                  
026342,004086: 26,3441           17736                           STODL    SAVLEMV                               #  SAVE LEM VELOCITY
026343,004087: 26,3442           00015                                    TAT                                   
026344,004088: 26,3443           34041                           STCALL   TDEC1                                 #  EXTRAPOLATE CSM STATE VECTOR
026345,004089: 26,3444           27066                                    CSMCONIC                              #  EXTRAPOLATE CSM STATE VECTOR
026346,004090: 26,3445           52375                           VLOAD    VSU                                   #  LOS VECTOR = R(CSM)-R(LM)
026347,004091: 26,3446           00001                                    RATT                                  
026348,004092: 26,3447           03674                                    RLMSRCH                               
026349,004093: 26,3450           77656                           UNIT                                           
026350,004094: 26,3451           27710                           STOVL    LOSDESRD                              #  STORE DESIRED LOS
026351,004095: 26,3452           00007                                    VATT                                  #  COMPUTE UNIT(V(CM) CROSS R(CM))
026352,004096: 26,3453           47256                           UNIT     VXV                                   
026353,004097: 26,3454           00001                                    RATT                                  
026354,004098: 26,3455           77656                           UNIT                                           
026355,004099: 26,3456           03702                           STORE    VXRCM                                 
026356,004100: 26,3457           52375                           VLOAD    VSU                                   
026357,004101: 26,3460           00007                                    VATT                                  
026358,004102: 26,3461           03736                                    SAVLEMV                               
026359,004103: 26,3462           76521                           MXV      VSL1                                  #  CONVERT FROM REFERENCE TO STABLE MEMBER
026360,004104: 26,3463           01734                                    REFSMMAT                              
026361,004105: 26,3464           03736                           STORE    SAVLEMV                               #  VLC = V(CSM) - V(LM)
026362,004106: 26,3465           53135                           SLOAD    BZE                                   #  CHECK IF N=0
026363,004107: 26,3466           03735                                    NSRCHPNT                              
026364,004108: 

Page 600

026366,004110: 26,3467           55600                                    DESGLOS                               #  YES-DESIGNATE ALONG LOS
026367,004111: 26,3470           53025                           DSU      BZE                                   #  IS N=1
026368,004112: 26,3471           15653                                    ONEOCT                                #  YES-CALCULATE X AND Y AXES OF
026369,004113: 26,3472           55565                                    CALCXY                                #  SEARCH PATTERN COORDINATE SYSTEM
026370,004114: 26,3473           77775                           VLOAD                                          #  NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026371,004115: 26,3474           03716                                    UXVECT                                
026372,004116: 26,3475           24015                           STOVL    UXVECTPR                              #  SAVE ORIGINAL X AND Y VECTORS
026373,004117: 26,3476           03724                                    UYVECT                                #  UXPRIME = ORIGINAL UX
026374,004118: 26,3477           00023                           STORE    UYVECTPR                              #  UYPRIME = ORIGINAL UY
026375,004119: 26,3500           77761                           VXSC                                           
026376,004120: 26,3501           15647                                    SIN60DEG                              #  UX =(COS 60)UXPR +(SIN 60)UYPR
026377,004121: 26,3502           27716                           STOVL    UXVECT                                
026378,004122: 26,3503           00015                                    UXVECTPR                              
026379,004123: 26,3504           53361                           VXSC     VAD                                   
026380,004124: 26,3505           06422                                    COS60DEG                              
026381,004125: 26,3506           03716                                    UXVECT                                
026382,004126: 26,3507           77656                           UNIT                                           
026383,004127: 26,3510           27716                           STOVL    UXVECT                                
026384,004128: 26,3511           00015                                    UXVECTPR                              #  UY=(-SIN 60)UXPR +(COS 60)UYPR
026385,004129: 26,3512           77761                           VXSC                                           
026386,004130: 26,3513           15647                                    SIN60DEG                              
026387,004131: 26,3514           27724                           STOVL    UYVECT                                
026388,004132: 26,3515           00023                                    UYVECTPR                              
026389,004133: 26,3516           52361                           VXSC     VSU                                   
026390,004134: 26,3517           06422                                    COS60DEG                              
026391,004135: 26,3520           03724                                    UYVECT                                
026392,004136: 26,3521           77656                           UNIT                                           
026393,004137: 26,3522           03724                           STORE    UYVECT                                
026394,004138: 26,3523           53361        OFFCALC            VXSC     VAD                                   #  OFFSET VECTOR = K(UY)
026395,004139: 26,3524           15651                                    OFFSTFAC                              #  LOS VECTOR + OFFSET VECTOR DEFINES
026396,004140: 26,3525           03710                                    LOSDESRD                              #  DESIRED POINT IN SEARCH PATTERN
026397,004141: 26,3526           64256                           UNIT     MXV                                   
026398,004142: 26,3527           01734                                    REFSMMAT                              #  CONVERT TO STABLE MEMBER COORDINATES
026399,004143: 26,3530           77772                           VSL1                                           
026400,004144: 26,3531           25102        CONTDESG           STOVL    RRTARGET                              
026401,004145: 26,3532           03736                                    SAVLEMV                               
026402,004146: 26,3533           01761                           STORE    LOSVEL                                
026403,004147: 26,3534           77776                           EXIT                                           
026404,004148: 26,3535           00004                           INHINT                                         
026405,004149: 26,3536           06027                           TC       KILLTASK                              #  KILL ANY PRESENTLY WAITLISTED TASK
026406,004150: 26,3537           52602                           CADR     DESLOOP    +2                         #  WHICH WOULD DESIGNATE TO THE LAST
026407,004151:                                                                                                  #  POINT IN THE PATTERN
026408,004152: 26,3540           44735        CONTDES2           CS       BIT15                                 
026409,004153: 26,3541           70110                           MASK     RADMODES                              #  SET BIT 15 OF RADMODES TO INDICATE
026410,004154: 26,3542           64735                           AD       BIT15                                 #  A CONTINUOUS DESIGNATE WANTED
026411,004155: 26,3543           54110                           TS       RADMODES                              
026412,004156: 26,3544           06036                           TC       INTPRET                               
026413,004157: 
026414,004158: 26,3545           77624                           CALL                                           
026415,004159: 26,3546           52373                                    RRDESSM                               #  DESIGNATE RADAR TO RRTARGET VECTOR
026416,004160: 

Page 601

026418,004162: 
026419,004163: 26,3547           77776                           EXIT                                           
026420,004164: 26,3550           03637                           TC       LIMALARM                              #  LOS NOT IN MODE 2 COVERAGE (P22)
026421,004165: 26,3551           03637                           TC       LIMALARM                              #  VEHICLE MANEUVER REQUIRED (P20)
026422,004166: 
026423,004167: 
026424,004168:                                                                                                  #  COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026425,004169:                                                                                                  #  SPACECRAFT +Z AXIS
026426,004170: 26,3552           00006        OMEGCALC           EXTEND                                         
026427,004171: 26,3553           30036                           DCA      CDUT                                  
026428,004172: 26,3554           53751                           DXCH     TANGNB                                
026429,004173: 26,3555           06036                           TC       INTPRET                               
026430,004174: 26,3556           77624                           CALL                                           
026431,004175: 26,3557           46041                                    RRNB                                  
026432,004176: 26,3560           65545                           DLOAD    ACOS                                  #  OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026433,004177: 26,3561           00045                                    36D                                   #  VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026434,004178: 26,3562           03733                           STORE    OMEGDISP                              #  STORE FOR DISPLAY IN R2
026435,004179: 26,3563           77776                           EXIT                                           
026436,004180: 26,3564           05155                           TC       ENDOFJOB                              
026437,004181: 

Page 602

026439,004183:                                                                                                  #  CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026440,004184: 
026441,004185: 
026442,004186: 26,3565           47375        CALCXY             VLOAD    VXV                                   
026443,004187: 26,3566           03702                                    VXRCM                                 
026444,004188: 26,3567           03710                                    LOSDESRD                              
026445,004189: 26,3570           77656                           UNIT                                           
026446,004190: 26,3571           27716                           STOVL    UXVECT                                #  UX = (VLM X RLM) X LOS
026447,004191: 26,3572           03710                                    LOSDESRD                              
026448,004192: 26,3573           53435                           VXV      UNIT                                  
026449,004193: 26,3574           03716                                    UXVECT                                
026450,004194: 26,3575           03724                           STORE    UYVECT                                #  UY = LOS X UX
026451,004195: 26,3576           77650                           GOTO                                           
026452,004196: 26,3577           55523                                    OFFCALC                               
026453,004197: 
026454,004198: 
026455,004199: 26,3600           64375        DESGLOS            VLOAD    MXV                                   #  WHEN N= 0,DESIGNATE ALONG LOS
026456,004200: 26,3601           03710                                    LOSDESRD                              
026457,004201: 26,3602           01734                                    REFSMMAT                              #  CONVERT LOS FROM REFERENCE TO SM COORDS
026458,004202: 26,3603           52172                           VSL1     GOTO                                  
026459,004203: 26,3604           55531                                    CONTDESG                              
026460,004204: 
026461,004205: 
026462,004206: 26,3605           30074        CALLDGCH           CAE      FLAGWRD0                              #  IS RENDEZVOUS FLAG SET
026463,004207: 26,3606           74745                           MASK     RNDVZBIT                              
026464,004208: 26,3607           00006                           EXTEND                                         
026465,004209: 26,3610           15261                           BZF      TASKOVER                              #  NO-EXIT R24
026466,004210: 26,3611           37712                           CAF      PRIO25                                #  YES-SCHEDULE JOB TO DRIVE RADAR TO NEXT
026467,004211: 26,3612           05105                           TC       FINDVAC                               #  POINT IN SEARCH PATTERN
026468,004212: 26,3613  E7,1673                                  EBANK=   RLMSRCH                               
026469,004213: 26,3613           03616 54067                     2CADR    DATGDCHK                              
026470,004214: 26,3615           05261                           TC       TASKOVER                              
026471,004215: 
026472,004216: 
026473,004217: 26,3616           34750        DATGDCHK           CAF      BIT4                                  
026474,004218: 26,3617           00006                           EXTEND                                         #  CHECK IF DATA GOOD DISCRETE PRESENT
026475,004219: 26,3620           02033                           RAND     CHAN33                                
026476,004220: 26,3621           00006                           EXTEND                                         
026477,004221: 26,3622           13631                           BZF      STORE1S                               #  YES- GO TO STORE 11111 FOR DISPLAY IN R1
026478,004222: 26,3623           46241                           CS       SIX                                   
026479,004223: 26,3624           61734                           AD       NSRCHPNT                              #  IS N GREATER THAN 6
026480,004224: 26,3625           00006                           EXTEND                                         
026481,004225: 26,3626           13405                           BZF      LRS24.1                               #  YES - RESET N = 0 AND START AROUND AGAIN
026482,004226: 26,3627           25734                           INCR     NSRCHPNT                              #  NO-SET N = N+1 AN GO TO
026483,004227: 26,3630           13407                           TCF      CHKSRCH                               #  NEXT POINT IN PATTERN
026484,004228: 
026485,004229: 
026486,004230: 26,3631           33645        STORE1S            CAF      ALL1S                                 #  STORE 11111 FOR DISPLAY IN R1
026487,004231: 26,3632           55731                           TS       DATAGOOD                              
026488,004232: 

Page 603

026490,004234: 26,3633           00004                           INHINT                                         
026491,004235: 26,3634           06027                           TC       KILLTASK                              #  DELETE DESIGNATE TASK FROM
026492,004236: 26,3635           52602                           CADR     DESLOOP    +2                         #  WAITLIST USING KILLTASK
026493,004237: 26,3636           05155                           TC       ENDOFJOB                              
026494,004238: 
026495,004239: 26,3637           05567        LIMALARM           TC       ALARM                                 #  ISSUE ALARM 527- LOS NOT IN MODE2
026496,004240: 26,3640           00527                           OCT      527                                   #  COVERAGE IN P22 OR VEHICLE MANEUVER
026497,004241: 26,3641           00004                           INHINT                                         #  REQUIRED IN P20
026498,004242: 26,3642           06027                           TC       KILLTASK                              #  KILL WAITLIST CALL FOR NEXT
026499,004243: 26,3643           55605                           CADR     CALLDGCH                              #  POINT IN SEARCH PATTERN
026500,004244: 26,3644           05155                           TC       ENDOFJOB                              
026501,004245: 
026502,004246: 
026503,004247: 26,3645           25547        ALL1S              DEC      11111      B-14                       
026504,004248: 26,3646           33555 01106  SIN60DEG           2DEC     .86603                                
026505,004249: 26,3650  23,2421               COS60DEG           =        DPHALF                                #  (2DEC   .50)
026506,004250: 26,3650                        UXVECTPR           EQUALS   12D                                   #  PREVIOUS
026507,004251: 26,3650                        UYVECTPR           EQUALS   18D                                   
026508,004252: 26,3650                        RLMUNIT            EQUALS   12D                                   
026509,004253: 26,3650           01642 11045  OFFSTFAC           2DEC     0.05678                               #  TANGENT OF 3.25 DEGREES
026510,004254: 26,3652           00001        ONEOCT             OCT      00001                                 #  ****  NOTE-THESE TWO CONSTANTS MUST ****
026511,004255: 26,3653           00000 00454  3SECONDS           2DEC     300        B-28                       #  ****  BE IN THIS ORDER BECAUSE      ****
026512,004256:                                                                                                  #  ****  ONEOCT NEEDS A LOWER ORDER    ****
026513,004257:                                                                                                  #  ****  WORD OF ZEROES                ****
026514,004258: 26,3655           01130        6SECONDS           DEC      600        B-14                       
026515,004259: 26,3656           00062        DEC50              DEC      50         B-14                       
026516,004260:                                                                                                  #  ********************************
026517,004261: 
026518,004262:                                                                                                  #  TEST PROGRAM FOR LSR22.3 --- TO BE REMOVED
026519,004263:                                                                                                  #  ********************************
026520,004264: 
026521,004265: 27,2156                                           BANK     27                                    
026522,004266: 
026523,004267: 27,2156  E7,1455                                  EBANK=   AIG                                   
026524,004268: 27,2156                                           COUNT*   $$/RTEST                              
026525,004269: 27,2156           34755        TEST22.3           CAF      ZERO                                  
026526,004270: 27,2157           55122                           TS       LONG                                  
026527,004271: 27,2160           06036        LOOP22.3           TC       INTPRET                               
026528,004272: 27,2161           70744                           LXC,2    DLOAD*                                
026529,004273: 27,2162           01122                                    LONG                                  
026530,004274: 27,2163           62370                                    JOBOVER    +1,2                       
026531,004275: 27,2164           03456                           STORE    AIG                                   
026532,004276: 27,2165           77743                           DLOAD*                                         
026533,004277: 27,2166           62367                                    JOBOVER    +2,2                       
026534,004278: 27,2167           03457                           STORE    AMG                                   
026535,004279: 27,2170           77743                           DLOAD*                                         
026536,004280: 

Page 604

026538,004282: 27,2171           62365                                    JOBOVER    +4,2                       
026539,004283: 27,2172           03753                           STORE    MKTIME                                
026540,004284: 27,2173           77743                           DLOAD*                                         
026541,004285: 27,2174           62363                                    JOBOVER    +6,2                       
026542,004286: 27,2175           03755                           STORE    RM                                    
026543,004287: 27,2176           77743                           DLOAD*                                         
026544,004288: 27,2177           62361                                    JOBOVER    +8D,2                      
026545,004289: 27,2200           03747                           STORE    RDOTM                                 
026546,004290: 27,2201           77743                           DLOAD*                                         
026547,004291: 27,2202           62357                                    JOBOVER    +10D,2                     
026548,004292: 27,2203           03734                           STORE    RRSHAFT                               
026549,004293: 27,2204           77743                           DLOAD*                                         
026550,004294: 27,2205           62355                                    JOBOVER    +12D,2                     
026551,004295: 27,2206           03732                           STORE    RRTRUN                                
026552,004296: 27,2207           77624                           CALL                                           
026553,004297: 27,2210           54370                                    LSR22.3                               
026554,004298: 27,2211           77776        22.3ENT            EXIT                                           
026555,004299: 27,2212           31122                           CA       LONG                                  
026556,004300: 27,2213           62222                           AD       DEC13T                                
026557,004301: 27,2214           55122                           TS       LONG                                  
026558,004302: 27,2215           11123                           CCS      LONG       +1                         
026559,004303: 27,2216           02220                           TC       +2                                    
026560,004304: 27,2217           30000        STOP22.3           CA       A                                     
026561,004305: 27,2220           55123                           TS       LONG       +1                         
026562,004306: 27,2221           02160                           TC       LOOP22.3                              
026563,004307: 27,2222           00015        DEC13T             DEC      13         B-14                       
026564,004308: 
026565,004309: 27,2223  26,3405               JOBOVER            EQUALS   LRS24.1                               #  ****  TEMPORARY DEFINITION ******
026566,004310: 
026567,004311:                                                                                                  #  END OF TEST PROGRAM
026568,004312:                                                                                                  #   ****************************************
026569,004313: 27,2223  23,2423               ZERO/SP            EQUALS   HI6ZEROS                              
026570,004314:    4616                                           BLOCK    02                                    
026571,004315:    6000                                           SETLOC   FFTAG5                                
026572,004316:    6000                                           BANK                                           
026573,004317:    6022                                           COUNT*   $$/P20                                
026574,004318:    6022           00006        GOTOV56            EXTEND                                         #  P20 TERMINATES BY GOTOV56 INSTEAD OF
026575,004319:    6023           36026                           DCA      VB56CADR                              #  GOTOPOOH
026576,004320:    6024           15165                           TCF      SUPDXCHZ                              
026577,004321:    6025  E7,1467                                  EBANK=   WHOCARES                              
026578,004322:    6025           03034 66107  VB56CADR           2CADR    TRMTRACK                              
026579,004323: 
026580,004324: 

Page 605

026582,004326:                                                                                                  #  PROGRAM NAME: R29  (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
026583,004327:                                                                                                  #  MOD NO. 2       BY H. BLAIR-SMITH       JULY 2, 1968.
026584,004328: 
026585,004329: 
026586,004330:                                                                                                  #  FUNCTIONAL DESCRIPTION:
026587,004331: 
026588,004332:                                                                                                  #  DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
026589,004333:                                                                                                  #  AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND.  WHEN THE RR IS WITHIN .5 DEGREE OF
026590,004334:                                                                                                  #  THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED.  AT
026591,004335:                                                                                                  #  THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
026592,004336:                                                                                                  #  DOWN TELEMETRY.  THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
026593,004337:                                                                                                  #  INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE.  THE INDICATOR IS IN TRKMKCNT.
026594,004338: 
026595,004339:                                                                                                  #  CALLING SEQUENCE:  BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
026596,004340: 
026597,004341: 
026598,004342:                                                                                                  #  SUBROUTINES CALLED:
026599,004343: 
026600,004344:                                                                                                  #  REMODE   RRTONLY
026601,004345:                                                                                                  #  UNIT     MPACVBUF
026602,004346:                                                                                                  #  QUICTRIG AX*SR*T
026603,004347:                                                                                                  #  SPSIN    SPCOS
026604,004348:                                                                                                  #  SETRRECR RROUT
026605,004349:                                                                                                  #  RRRDOT   RRRANGE
026606,004350: 
026607,004351: 
026608,004352:                                                                                                  #  EXIT:  TO NOR29NOW, IN SERVICER.
026609,004353: 
026610,004354: 
026611,004355:                                                                                                  #  OUTPUT:  (ALL FOR DOWNLINK)
026612,004356: 
026613,004357:                                                                                                  #  RM       RDOTM                  (RAW)
026614,004358:                                                                                                  #  AIG      AMG
026615,004359:                                                                                                  #  AOG      TRKMKCNT               TRKMKCNT = 00001 IF SET IS CONSISTENT,
026616,004360:                                                                                                  #  TANGNB   TANGNB +1              OTHERWISE TRKMKCNT = 00000.
026617,004361:                                                                                                  #  MKTIME
026618,004362: 

Page 606

026620,004364: 
026621,004365:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
026622,004366: 
026623,004367:                                                                                                  #  NOR29FLG READRFLG               (TO 1 AND 0 BY FRESH START)  (RESET NOR29FLG TO LET SERVICER RUN R29)
026624,004368:                                                                                                  #  PIPTIME  RADMODES (BIT 10)      (BIT SET TO 0 BY FRESH START)
026625,004369:                                                                                                  #  R(CSM)   V(CSM)
026626,004370:                                                                                                  #  R        V                      (PIPTIME THRU V BY AVE G IN SERVICER)
026627,004371: 
026628,004372: 
026629,004373:                                                                                                  #  DEBRIS:
026630,004374: 
026631,004375:                                                                                                  #  RADMODES (BIT 10)
026632,004376:                                                                                                  #  LOSSM    LOSVDT/4       (= RRTARGET & LOSVEL)
026633,004377:                                                                                                  #  SAVECDUT OLDESFLG       (SAVECDUT = MLOSV)
026634,004378:                                                                                                  #  LOSCMFLG READRFLG
026635,004379: 
026636,004380: 
026637,004381:                                                                                                  #  ALARMS:  NONE.
026638,004382: 
026639,004383: 
026640,004384:                                                                                                  #  COMPONENT JOBS AND TASKS:
026641,004385: 
026642,004386:                                                                                                  #  INITIALIZING, IF RR IS FOUND TO BE IN MODE 1:  JOB R29REMOJ AND TASK REMODE;  ALWAYS: TASK PREPOS29.
026643,004387:                                                                                                  #  DESIGNATING:  TASK BEGDES29 & JOB R29DODES.
026644,004388:                                                                                                  #  RADAR READING:  TASK R29READ AND JOB R29RDJOB.  ALL JOBS ARE NOVAC TYPE.
026645,004389: 
026646,004390: 
026647,004391: 33,2045                                           BANK     33                                    
026648,004392: 33,2000                                           SETLOC   R29/SERV                              
026649,004393: 33,2000                                           BANK                                           
026650,004394: 
026651,004395: 33,2045                                           COUNT*   $$/R29                                
026652,004396: 
026653,004397: 33,2045     5014               NR29&RDR           EQUALS   EBANK5                                
026654,004398: 

Page 607

026656,004400:                                                                                                  #  SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
026657,004401:                                                                                                  #  ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
026658,004402: 
026659,004403: 33,2045           40110        R29                CS       RADMODES                              
026660,004404: 33,2046           74742                           MASK     BIT10                                 
026661,004405: 33,2047           00006                           EXTEND                                         
026662,004406: 33,2050           12123                           BZF      R29.LOS                               #  BRANCH IF DESIGNATION IS ALREADY ON.
026663,004407: 
026664,004408: 33,2051           00004                           INHINT                                         
026665,004409: 33,2052           26110                           ADS      RADMODES                              #  SHOW THAT DESIGNATION IS NOW ON.
026666,004410: 33,2053           44736                           CS       BIT14                                 
026667,004411: 33,2054           00006                           EXTEND                                         
026668,004412: 33,2055           03012                           WAND     CHAN12                                #  REMOVE RR TRACK ENABLE DISCRETE.
026669,004413: 33,2056           44740                           CS       LOSCMBIT                              
026670,004414: 33,2057           70076                           MASK     FLAGWRD2                              
026671,004415: 33,2060           54076                           TS       FLAGWRD2                              #  CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
026672,004416: 33,2061           44753                           CS       OLDESBIT                              
026673,004417: 33,2062           70074                           MASK     STATE                                 
026674,004418: 33,2063           54074                           TS       STATE                                 #  SHOW THAT DES. LOOP IS NOT REQUESTED.
026675,004419: 33,2064           04616                           TC       BANKCALL                              
026676,004420: 33,2065           52156                           CADR     SETRRECR                              #  ENABLE RR ERROR COUNTERS.
026677,004421: 33,2066           34740                           CA       BIT12                                 
026678,004422: 33,2067           70110                           MASK     RADMODES                              
026679,004423: 33,2070           10000                           CCS      A                                     #  TEST RR MODE BIT.
026680,004424: 33,2071           12104                           TCF      SETPRPOS                              #  MODE 2.
026681,004425: 
026682,004426: 33,2072           35031                           CA       PRIO21                                #  MODE 1; MUST REMODE.
026683,004427: 33,2073           05072                           TC       NOVAC                                 
026684,004428: 33,2074  E7,1454                                  EBANK=   LOSCOUNT                              
026685,004429: 33,2074           02113 66067                     2CADR    R29REM0J                              #  NEEDS OWN JOB TO RADSTALL IN.
026686,004430: 
026687,004431: 33,2076           44742                           CS       BIT10                                 
026688,004432: 33,2077           70110                           MASK     RADMODES                              #  CLEAR DESIGNATE FLAG IN RADMODES
026689,004433: 33,2100           54110                           TS       RADMODES                              #  BEFORE CALLING REMODE
026690,004434: 33,2101           34736                           CA       BIT14                                 
026691,004435: 33,2102           26110                           ADS      RADMODES                              #   SHOW THAT REMODING IS ON.
026692,004436: 33,2103           12623                           TCF      NOR29NOW                              #  CONTINUE SERVICER FUNCTIONS.
026693,004437: 
026694,004438: 33,2104           34753        SETPRPOS           CA       ONE                                   
026695,004439: 33,2105           05203                           TC       WAITLIST                              
026696,004440: 33,2106  E7,1454                                  EBANK=   LOSCOUNT                              
026697,004441: 33,2106           03601 52067                     2CADR    PREPOS29                              #  TASK TO SET TRUNNION ANGLE TO -180 DEG.
026698,004442: 
026699,004443: 33,2110           34741                           CA       BIT11                                 
026700,004444: 33,2111           26110                           ADS      RADMODES                              #  SHOW THAT REPOSITIONING IS ON.
026701,004445: 33,2112           12623                           TCF      NOR29NOW                              
026702,004446: 

Page 608

026704,004448:                                                                                                  #  FORCE RENDEZVOUS RADAR INTO MODE 2.
026705,004449: 
026706,004450: 33,2113           34753        R29REM0J           CA       ONE                                   
026707,004451: 33,2114           05203                           TC       WAITLIST                              
026708,004452: 33,2115  E7,1454                                  EBANK=   LOSCOUNT                              
026709,004453: 33,2115           02171 52067                     2CADR    REMODE                                #  REMODE MUST RUN AS A TASK.
026710,004454: 33,2117           04616                           TC       BANKCALL                              #  WAIT FOR END OF REMODING.
026711,004455: 33,2120           17667                           CADR     RADSTALL                              
026712,004456: 
026713,004457: 33,2121           15155                           TCF      ENDOFJOB                              #  BAD EXIT CAN'T HAPPEN.
026714,004458: 33,2122           15155                           TCF      ENDOFJOB                              
026715,004459: 
026716,004460:                                                                                                  #  TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
026717,004461: 
026718,004462: 25,2000                                           SETLOC   R29S1                                 
026719,004463: 25,2000                                           BANK                                           
026720,004464: 
026721,004465: 25,3601           34735        PREPOS29           CA       NEGMAX                                #  -180 DEG.
026722,004466: 25,3602           02241                           TC       RRTONLY                               #  DRIVE TRUNNION CDU.
026723,004467: 25,3603           44741                           CS       REPOSBIT                              #  SHOW THAT REPOSITIONING IS OFF.
026724,004468: 25,3604           70110                           MASK     RADMODES                              
026725,004469: 25,3605           54110                           TS       RADMODES                              
026726,004470: 25,3606           15261                           TCF      TASKOVER                              
026727,004471: 
026728,004472: 
026729,004473:                                                                                                  #  COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
026730,004474: 
026731,004475: 
026732,004476: 33,2045                                           SETLOC   R29                                   
026733,004477: 33,2045                                           BANK                                           
026734,004478: 
026735,004479: 33,2123           00006        R29.LOS            EXTEND                                         
026736,004480: 33,2124           41235                           DCS      PIPTIME                               
026737,004481: 33,2125           52155                           DXCH     MPAC                                  
026738,004482: 33,2126           00006                           EXTEND                                         
026739,004483: 33,2127           30025                           DCA      TIME2                                 
026740,004484: 33,2130           20155                           DAS      MPAC                                  #  (MPAC) = T-PIPTIME, SCALED B-28.
026741,004485: 33,2131           54163                           TS       MODE                                  #  SET MODE TO DOUBLE PRECISION.
026742,004486: 33,2132           30155                           CA       MPAC       +1                         
026743,004487: 33,2133           00006                           EXTEND                                         
026744,004488: 33,2134           74740                           MP       BIT12                                 
026745,004489: 33,2135           52155                           DXCH     MPAC                                  #  T-PIPTIME NOW SCALED B-17.
026746,004490: 33,2136           06036                           TC       INTPRET                               
026747,004491: 

Page 609

026749,004493:                                                                                                  #  LOSCMFLG=0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA.  SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
026750,004494:                                                                                                  #  START IT UP WHEN THE DATA IS IN PLACE.
026751,004495: 
026752,004496: 
026753,004497: 33,2137           52315                           PDVL     VSU                                   #  PUSH DOWN T-PIPTIME.
026754,004498: 33,2140           01726                                    V(CSM)                                
026755,004499: 33,2141           03525                                    V                                     #  LOSVEL = V(CSM) - V.
026756,004500: 33,2142           74325                           PDDL     VXSC                                  #  SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
026757,004501: 33,2143           52255                           VAD      VSU                                   #   AND ADD THE RESULT TO R(CSM) - R TO GET
026758,004502: 33,2144           01720                                    R(CSM)                                #   AN UP-TO-DATE LOS VECTOR IN SM AXES.
026759,004503: 33,2145           03517                                    R                                     
026760,004504: 33,2146           77414                           BOFSET   EXIT                                  #  (BOFSET DOES ITS THING INHINTED.)
026761,004505: 33,2147           01043                                    LOSCMFLG                              #  IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
026762,004506: 33,2150           66152                                    SETUP29D                              #   FLG TO ON AND GO TO SET UP NEW DATA.
026763,004507: 33,2151           12623                           TCF      NOR29NOW                              #  IF DES. LOOP IS ON, LET IT USE OLD DATA.
026764,004508: 
026765,004509: 33,2152           25102        SETUP29D           STOVL    LOSSM                                 #  LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
026766,004510: 33,2153           00001                                    0                                     
026767,004511: 33,2154           77761                           VXSC                                           
026768,004512: 33,2155           26177                                    .5SECB17                              
026769,004513: 33,2156           01761                           STORE    LOSVDT/4                              #  1/2 SECOND'S WORTH OF LOS VELOCITY.
026770,004514: 33,2157           77414                           CLEAR    EXIT                                  
026771,004515: 33,2160           01263                                    LOSCMFLG                              #  LET R29DLOOP USE NEW DATA.
026772,004516: 
026773,004517: 33,2161           40074                           CS       STATE                                 
026774,004518: 33,2162           74753                           MASK     OLDESBIT                              
026775,004519: 33,2163           00006                           EXTEND                                         
026776,004520: 33,2164           12623                           BZF      NOR29NOW                              #  BRANCH IF R29 DES. LOOP IS REQUESTED.
026777,004521: 33,2165           00004                           INHINT                                         
026778,004522: 33,2166           26074                           ADS      STATE                                 #  OTHERWISE REQUEST IT NOW.
026779,004523: 
026780,004524: 33,2167           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET ONE SECOND.
026781,004525: 33,2170           44776                           CS       SUPER110                              #  -96D +100D = 4.
026782,004526: 33,2171           64777                           AD       1SEC                                  #  0 +100D = 100D.
026783,004527: 33,2172           05203                           TC       WAITLIST                              
026784,004528: 33,2173  E7,1454                                  EBANK=   LOSCOUNT                              
026785,004529: 33,2173           03253 50067                     2CADR    BEGDES29                              #  START BEGDES29 TASK ASAP.
026786,004530: 33,2175           12623                           TCF      NOR29NOW                              #  RELINT AND CONTINUE SERVICER FUNCTIONS.
026787,004531: 
026788,004532: 33,2176           00006 10000  .5SECB17           2DEC     50         B-17                       
026789,004533: 

Page 610

026791,004535:                                                                                                  #  R29 DESIGNATE JOB AND TASK MACHINERY.  TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
026792,004536:                                                                                                  #  CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
026793,004537: 
026794,004538: 24,3253                                           BANK     24                                    
026795,004539: 24,2000                                           SETLOC   P20S                                  
026796,004540: 24,2000                                           BANK                                           
026797,004541: 
026798,004542: 24,3253                                           COUNT*   $$/R29                                
026799,004543: 
026800,004544: 24,3253           35031        BEGDES29           CAF      PRIO21                                
026801,004545: 24,3254           05072                           TC       NOVAC                                 
026802,004546: 24,3255  E3,1760                                  EBANK=   LOSVDT/4                              
026803,004547: 24,3255           02545 64063                     2CADR    R29DODES                              #  START R29DODES JOB TWICE A SECOND.
026804,004548: 
026805,004549: 24,3257           34774        R29DLOOP           CAF      .5SEC                                 
026806,004550: 24,3260           05224                           TC       VARDELAY                              
026807,004551: 
026808,004552: 24,3261           40110                           CS       RADMODES                              
026809,004553: 24,3262           74742                           MASK     BIT10                                 
026810,004554: 24,3263           10000                           CCS      A                                     
026811,004555: 24,3264           15261                           TCF      TASKOVER                              #  QUIT IF DESIGNATION IS CALLED OFF.
026812,004556: 
026813,004557: 24,3265           40076                           CS       FLAGWRD2                              
026814,004558: 24,3266           74740                           MASK     LOSCMBIT                              
026815,004559: 24,3267           00006                           EXTEND                                         
026816,004560: 24,3270           13273                           BZF      +3                                    #  BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
026817,004561: 24,3271           26076                           ADS      FLAGWRD2                              #  SET LOSCMFLG:  SHOW THAT DES. LOOP IS ON.
026818,004562: 24,3272           13253                           TCF      BEGDES29                              
026819,004563: 
026820,004564: 24,3273           34753                           CA       ONE                                   
026821,004565: 24,3274           13260                           TCF      R29DLOOP   +1                         #  WAIT A CENTISECOND FOR NEW DATA.
026822,004566: 

Page 611

026824,004568:                                                                                                  #  R29DODES:  RR DESIGNATION LOOP FOR R29
026825,004569: 
026826,004570:                                                                                                  #  THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER.  IT TAKES THE NON-UNITIZED LOS VECTOR
026827,004571:                                                                                                  #  IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
026828,004572:                                                                                                  #  AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
026829,004573:                                                                                                  #  ALL.  THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
026830,004574:                                                                                                  #  CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
026831,004575: 
026832,004576:                                                                                                  #  THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
026833,004577:                                                                                                  #  TASK WHEN LOCK-ON IS ACHIEVED.
026834,004578: 
026835,004579: 32,2545                                           BANK     32                                    
026836,004580: 32,2000                                           SETLOC   F2DPS*32                              
026837,004581: 32,2000                                           BANK                                           
026838,004582: 
026839,004583: 32,2545                                           COUNT*   $$/R29                                
026840,004584: 32,2545  E3,1760                                  EBANK=   LOSVDT/4                              
026841,004585: 
026842,004586: 32,2545           34753        R29DODES           CA       ONE                                   
026843,004587: 32,2546           55107                           TS       TANG                                  #  INDICATE 1ST PASS THRU VECTOR LOOP.
026844,004588: 32,2547           34756                           CA       FIVE                                  
026845,004589: 
026846,004590: 32,2550           10000        R29DVBEG           CCS      A                                     #  COUNT DOWN BY TWOS IN VECTOR LOOP.
026847,004591: 32,2551           54002                           TS       Q                                     
026848,004592: 32,2552           11107                           CCS      TANG                                  
026849,004593: 32,2553           12561                           TCF      R29DPAS1                              #  DO THIS ON 1ST PASS THRU LOOP.
026850,004594: 
026851,004595: 32,2554           00006                           EXTEND                                         #  (A "PASS" HERE MEANS 3 TIMES AROUND).
026852,004596: 32,2555           50002                           INDEX    Q                                     
026853,004597: 32,2556           31761                           DCA      LOSVDT/4                              
026854,004598: 32,2557           50002                           INDEX    Q                                     
026855,004599: 32,2560           21102                           DAS      LOSSM                                 #  ADVANCE LOS VECTOR 1/2 SECOND.
026856,004600: 
026857,004601: 32,2561           00006        R29DPAS1           EXTEND                                         
026858,004602: 32,2562           50002                           INDEX    Q                                     
026859,004603: 32,2563           31102                           DCA      LOSSM                                 
026860,004604: 32,2564           50002                           INDEX    Q                                     #  MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
026861,004605: 32,2565           52156                           DXCH     MPAC       +1                         #  JECTED 1/2 SEC AHEAD (2ND PASS).
026862,004606: 32,2566           11107                           CCS      TANG                                  
026863,004607: 32,2567           12575                           TCF      R29DVEND                              #  BUG OUT HERE IN 1ST PASS.
026864,004608: 
026865,004609: 32,2570           00006                           EXTEND                                         
026866,004610: 32,2571           50002                           INDEX    Q                                     
026867,004611: 32,2572           31761                           DCA      LOSVDT/4                              
026868,004612: 32,2573           50002                           INDEX    Q                                     
026869,004613: 32,2574           20156                           DAS      MPAC       +1                         #  PROJECT LOS 1 SECOND AHEAD (2ND PASS).
026870,004614: 
026871,004615: 32,2575           10002        R29DVEND           CCS      Q                                     
026872,004616: 32,2576           12550                           TCF      R29DVBEG                              #  BRANCH TO CONTINUE VECTOR LOOP.
026873,004617: 

Page 612

026875,004619:                                                                                                  #  UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
026876,004620: 
026877,004621: 32,2577           52156                           DXCH     MPAC       +1                         
026878,004622: 32,2600           52155                           DXCH     MPAC                                  
026879,004623: 32,2601           32770                           CA       R29FXLOC                              #  = ADRES INTB15+ -34D
026880,004624: 32,2602           54120                           TS       FIXLOC                                
026881,004625: 32,2603           04713                           TC       USPRCADR                              #  WITH FIXLOC ARMED FOR LENGTH AND LENGTH
026882,004626: 32,2604           01023                           CADR     UNIT                                  #  SQUARED, BORROW UNITIZING ROUTINE.
026883,004627: 32,2605           07531                           TC       MPACVBUF                              #  MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
026884,004628: 
026885,004629: 32,2606           11107                           CCS      TANG                                  
026886,004630: 32,2607           12611                           TCF      +2                                    
026887,004631: 32,2610           12625                           TCF      GOTANGLS                              #  GET CDU ANGLES ONLY AFTER 1ST PASS.
026888,004632: 32,2611           00004                           INHINT                                         #  ENSURE CONSISTENT CDU READINGS.
026889,004633: 32,2612           00006                           EXTEND                                         
026890,004634: 32,2613           30036                           DCA      CDUT                                  
026891,004635: 32,2614           53767                           DXCH     SAVECDUT                              #  TRUNNION AND SHAFT ANGLES.
026892,004636: 32,2615           30033                           CA       CDUY                                  
026893,004637: 32,2616           54766                           TS       CDUSPOT                               
026894,004638: 32,2617           30034                           CA       CDUZ                                  
026895,004639: 32,2620           54770                           TS       CDUSPOT    +2                         
026896,004640: 32,2621           30032                           CA       CDUX                                  
026897,004641: 32,2622           54772                           TS       CDUSPOT    +4                         #  CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
026898,004642: 32,2623           04616                           TC       BANKCALL                              
026899,004643: 32,2624           47521                           CADR     QUICTRIG                              #  GET SINES AND COSINES OF CDU ANGLES.
026900,004644: 
026901,004645: 32,2625           46244        GOTANGLS           CS       THREE                                 
026902,004646: 32,2626           04616                           TC       BANKCALL                              
026903,004647: 32,2627           47601                           CADR     AX*SR*T                               #  TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
026904,004648: 
026905,004649: 32,2630           11107                           CCS      TANG                                  
026906,004650: 32,2631           12633                           TCF      +2                                    
026907,004651: 32,2632           12676                           TCF      R29DPAS2                              #  GO TO RR COMMAND COMP. AFTER 2ND PASS.
026908,004652: 

Page 613

026910,004654:                                                                                                  #  COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
026911,004655:                                                                                                  #  THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
026912,004656: 
026913,004657: 32,2633           55107                           TS       TANG                                  #  INDICATE 2ND PASS THRU VECTOR LOOP.
026914,004658: 32,2634           31766                           CA       SAVECDUT                              
026915,004659: 32,2635           05032                           TC       SPCOS                                 
026916,004660: 32,2636           54166                           TS       PUSHLOC                               #  PUSHLOC = COS T.
026917,004661: 32,2637           41766                           CS       SAVECDUT                              
026918,004662: 32,2640           05033                           TC       SPSIN                                 
026919,004663: 32,2641           54163                           TS       MODE                                  #  MODE = -SIN T.
026920,004664: 32,2642           00006                           EXTEND                                         
026921,004665: 32,2643           70124                           MP       VBUF       +2                         #  FORM - SIN T ULOSNBY.
026922,004666: 32,2644           52155                           DXCH     MPAC                                  
026923,004667: 32,2645           31767                           CA       SAVECDUT   +1                         
026924,004668: 32,2646           05033                           TC       SPSIN                                 
026925,004669: 32,2647           55766                           TS       SAVECDUT                              #  SAVECDUT NOW = SIN S.
026926,004670: 32,2650           00006                           EXTEND                                         
026927,004671: 32,2651           70166                           MP       PUSHLOC                               
026928,004672: 32,2652           00006                           EXTEND                                         
026929,004673: 32,2653           70122                           MP       VBUF                                  #  FORM SIN S COS T ULOSNBX.
026930,004674: 32,2654           20155                           DAS      MPAC                                  
026931,004675: 32,2655           31767                           CA       SAVECDUT   +1                         
026932,004676: 32,2656           05032                           TC       SPCOS                                 
026933,004677: 32,2657           55767                           TS       SAVECDUT   +1                         #  SAVECDUT +1 NOW = COS S.
026934,004678: 32,2660           00006                           EXTEND                                         
026935,004679: 32,2661           70166                           MP       PUSHLOC                               
026936,004680: 32,2662           00006                           EXTEND                                         
026937,004681: 32,2663           70126                           MP       VBUF       +4                         #  FORM COS S COS T ULOSNBZ.
026938,004682: 32,2664           20155                           DAS      MPAC                                  #  COS(ERROR) = ULOSNB . (SIN S COS T,
026939,004683: 32,2665           00006                           EXTEND                                         #  -SIN T, COS S COS T).
026940,004684: 32,2666           30155                           DCA      MPAC                                  
026941,004685: 32,2667           20155        TESTCOS            DAS      MPAC                                  #  (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
026942,004686: 32,2670           10000                           CCS      A                                     #  TEST FOR + OVERFLOW, NONE, OR MINUS.
026943,004687: 32,2671           34736                           CA       BIT14                                 
026944,004688: 32,2672           12673                           NOOP                                           
026945,004689: 32,2673           00006                           EXTEND                                         
026946,004690: 32,2674           05012                           WOR      CHAN12                                #  IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
026947,004691: 32,2675           12547                           TCF      R29DVBEG   -1                         #  MAKE 2ND PASS THRU VECTOR LOOP.
026948,004692: 

Page 614

026950,004694:                                                                                                  #  COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026951,004695: 
026952,004696: 
026953,004697: 32,2676           31767        R29DPAS2           CA       SAVECDUT   +1                         
026954,004698: 32,2677           00006                           EXTEND                                         
026955,004699: 32,2700           70122                           MP       VBUF                                  #  FORM COS S ULOSNB'X.
026956,004700: 32,2701           53110                           DXCH     TANG                                  
026957,004701: 32,2702           41766                           CS       SAVECDUT                              
026958,004702: 32,2703           00006                           EXTEND                                         
026959,004703: 32,2704           70126                           MP       VBUF       +4                         #  FORM - SIN S ULOSNB'Z.
026960,004704: 32,2705           21110                           DAS      TANG                                  #  RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026961,004705: 32,2706           40163                           CS       MODE                                  #  - SIN S)
026962,004706: 32,2707           00006                           EXTEND                                         
026963,004707: 32,2710           71766                           MP       SAVECDUT                              
026964,004708: 32,2711           00006                           EXTEND                                         
026965,004709: 32,2712           70122                           MP       VBUF                                  #  FORM SIN T SIN S ULOSNB'X.
026966,004710: 32,2713           52155                           DXCH     MPAC                                  
026967,004711: 32,2714           30166                           CA       PUSHLOC                               
026968,004712: 32,2715           00006                           EXTEND                                         
026969,004713: 32,2716           70124                           MP       VBUF       +2                         #  FORM COS T ULOSNB'Y.
026970,004714: 32,2717           20155                           DAS      MPAC                                  
026971,004715: 32,2720           40163                           CS       MODE                                  
026972,004716: 32,2721           00006                           EXTEND                                         
026973,004717: 32,2722           71767                           MP       SAVECDUT   +1                         
026974,004718: 32,2723           00006                           EXTEND                                         
026975,004719: 32,2724           70126                           MP       VBUF       +4                         #  FORM SIN T COS S ULOSNB'Z.
026976,004720: 32,2725           20155                           DAS      MPAC                                  #  RAW TRUNNION CMD = ULOSNB'.
026977,004721: 32,2726           30154                           CA       MPAC                                  #  (SIN S SIN T, COS T, SIN S COS T).
026978,004722: 32,2727           00006                           EXTEND                                         
026979,004723: 32,2730           72771                           MP       RR29GAIN                              
026980,004724: 32,2731           57107                           XCH      TANG                                  #  STORE REFINED T CMD, GET RAW S CMD.
026981,004725: 32,2732           00006                           EXTEND                                         
026982,004726: 32,2733           72771                           MP       RR29GAIN                              
026983,004727: 32,2734           55110                           TS       TANG       +1                         #  STORE REFINED S CMD.
026984,004728: 

Page 615

026986,004730:                                                                                                  #  WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD.  IF PRESENT, STOP DESIGNATING AND START
026987,004731:                                                                                                  #  READING DATA FROM THE RENDEZVOUS RADAR.
026988,004732: 
026989,004733: 32,2735           34750        DGOOD?             CAF      BIT4                                  
026990,004734: 32,2736           00006                           EXTEND                                         
026991,004735: 32,2737           02033                           RAND     CHAN33                                #  GET RR DATA-GOOD BIT.
026992,004736: 32,2740           00004                           INHINT                                         #  (MAINLY FOR RROUT).
026993,004737: 32,2741           00006                           EXTEND                                         
026994,004738: 32,2742           12746                           BZF      R29LOKON                              #  BRANCH IF DATA-GOOD IS PRESENT.
026995,004739: 
026996,004740: 32,2743           04616                           TC       BANKCALL                              
026997,004741: 32,2744           52306                           CADR     RROUT                                 #  DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026998,004742: 32,2745           12764                           TCF      END29DOD                              
026999,004743: 
027000,004744: 32,2746           44742        R29LOKON           CS       BIT10                                 
027001,004745: 32,2747           70110                           MASK     RADMODES                              
027002,004746: 32,2750           54110                           TS       RADMODES                              #  SHOW THAT DESIGNATION IS OVER.
027003,004747: 32,2751           44752                           CS       BIT2                                  
027004,004748: 32,2752           00006                           EXTEND                                         
027005,004749: 32,2753           03012                           WAND     CHAN12                                #  DISABLE RR ERROR COUNTERS.
027006,004750: 32,2754           34743                           CA       READRBIT                              
027007,004751: 32,2755           26077                           ADS      FLAGWRD3                              #  SHOW THAT READING HAS BEEN REQUESTED.
027008,004752: 32,2756           11056                           CCS      PIPCTR                                #  SEE IF TASK SHOULD BE OFFSET 1 SEC.
027009,004753: 32,2757           44776                           CS       SUPER110                              #  -96D + 100D = 4.
027010,004754: 32,2760           64777                           AD       1SEC                                  #  0 + 100D = 100D.
027011,004755: 32,2761           05203                           TC       WAITLIST                              
027012,004756: 32,2762  E7,1454                                  EBANK=   LOSCOUNT                              
027013,004757: 32,2762           03275 50067                     2CADR    R29READ                               #  START READING TASK AND JOB.
027014,004758: 
027015,004759: 32,2764           44740        END29DOD           CS       LOSCMBIT                              
027016,004760: 32,2765           70076                           MASK     FLAGWRD2                              
027017,004761: 32,2766           54076                           TS       FLAGWRD2                              #  ALWAYS CLEAR LOSCMFLG.
027018,004762: 32,2767           15155                           TCF      ENDOFJOB                              
027019,004763: 
027020,004764: 32,2770           00052        R29FXLOC           ADRES    INTB15+    -34D                       
027021,004765: 32,2771           56655        RR29GAIN           DEC      -.53624                               
027022,004766: 32,2772  E3,1760               LOSVDT/4           EQUALS   LOSVEL                                
027023,004767: 32,2772     1101               LOSSM              EQUALS   RRTARGET                              
027024,004768: 32,2772  E3,1766               SAVECDUT           EQUALS   MLOSV                                 
027025,004769: 

Page 616

027027,004771:                                                                                                  #  RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
027028,004772: 
027029,004773: 24,3275                                           BANK     24                                    
027030,004774: 24,2000                                           SETLOC   P20S                                  
027031,004775: 24,2000                                           BANK                                           
027032,004776: 
027033,004777: 24,3275                                           COUNT*   $$/R29                                
027034,004778: 
027035,004779: 24,3275  E7,1454                                  EBANK=   LOSCOUNT                              
027036,004780: 
027037,004781: 24,3275           37713        R29READ            CAF      PRIO26                                #  CALLED BY WAITLIST.
027038,004782: 24,3276           05072                           TC       NOVAC                                 
027039,004783: 24,3277  E7,1454                                  EBANK=   LOSCOUNT                              
027040,004784: 24,3277           03310 50067                     2CADR    R29RDJOB                              #  START JOB TO READ AND DOWNLINK FOR R29.
027041,004785: 
027042,004786: 24,3301           35000                           CA       2SECS                                 
027043,004787: 24,3302           05224                           TC       VARDELAY                              
027044,004788: 
027045,004789: 24,3303           30077                           CA       FLAGWRD3                              #  2 SECONDS LATER, SEE IF READING IS STILL
027046,004790: 24,3304           74743                           MASK     READRBIT                              #  ALLOWED (NO TRACKER FAIL ETC.)
027047,004791: 24,3305           10000                           CCS      A                                     
027048,004792: 24,3306           13275                           TCF      R29READ                               #  IT'S OK; CALL IT AGAIN.
027049,004793: 24,3307           15261                           TCF      TASKOVER                              #  IT AIN'T; WAIT FOR REDESIGNATE.
027050,004794: 
027051,004795: 24,3310           30077        R29RDJOB           CA       FLAGWRD3                              #  CALLED VIA NOVAC.
027052,004796: 24,3311           74741                           MASK     NR29FBIT                              
027053,004797: 24,3312           10000                           CCS      A                                     #  TEST "NOR29FLG".
027054,004798: 24,3313           13372                           TCF      ENDRRD29                              #  R29 IS NOW OVER, STOP AT ONCE.
027055,004799: 
027056,004800: 24,3314           30110                           CA       RADMODES                              
027057,004801: 24,3315           74752                           MASK     AUTOMBIT                              
027058,004802: 24,3316           10000                           CCS      A                                     #  TEST RR-NOT-IN-AUTO-MODE BIT.
027059,004803: 24,3317           13372                           TCF      ENDRRD29                              #  ASTRO TOOK RR OUT OF AUTO MODE.
027060,004804: 
027061,004805: 24,3320           04616                           TC       BANKCALL                              
027062,004806: 24,3321           53103                           CADR     RRRDOT                                #  INITIATE READING OF RANGE RATE.
027063,004807: 24,3322           04616                           TC       BANKCALL                              
027064,004808: 24,3323           17667                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
027065,004809: 24,3324           13372                           TCF      ENDRRD29                              #  BAD READ; REDESIGNATE.
027066,004810: 

Page 617

027068,004812:                                                                                                  #  R29 RADAR READING CONTINUED.
027069,004813: 
027070,004814: 
027071,004815: 24,3325           53106                           DXCH     TIMEHOLD                              
027072,004816: 24,3326           52155                           DXCH     MPAC                                  #  TIME OF RR READING, FOR DOWNLINK.
027073,004817: 24,3327           00004                           INHINT                                         #  BE SURE OF 5 CONSISTENT CDU ANGLES.
027074,004818: 24,3330           00006                           EXTEND                                         
027075,004819: 24,3331           30036                           DCA      CDUT                                  
027076,004820: 24,3332           52157                           DXCH     MPAC       +2                         #  RRCDU ANGLES AT RR READ, FOR DOWNLINK.
027077,004821: 24,3333           00006                           EXTEND                                         
027078,004822: 24,3334           30034                           DCA      CDUY                                  
027079,004823: 24,3335           52161                           DXCH     MPAC       +4                         #  MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
027080,004824: 24,3336           30032                           CA       CDUX                                  
027081,004825: 24,3337           54162                           TS       MPAC       +6                         #  IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
027082,004826: 
027083,004827: 24,3340           04616        R29RANGE           TC       BANKCALL                              
027084,004828: 24,3341           53105                           CADR     RRRANGE                               #  INITIATE READING OF RR RANGE.
027085,004829: 24,3342           04616                           TC       BANKCALL                              
027086,004830: 24,3343           17667                           CADR     RADSTALL                              #  GO TO SLEEP UNTIL IT'S READY.
027087,004831: 24,3344           13363                           TCF      R29RRR?                               #  BAD READ OR SCALE CHANGE ... WHICH?
027088,004832: 
027089,004833: 24,3345           00004                           INHINT                                         
027090,004834: 24,3346           53334                           DXCH     DNRRANGE                              #  COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
027091,004835: 24,3347           53755                           DXCH     RM                                    
027092,004836: 24,3350           52155                           DXCH     MPAC                                  
027093,004837: 24,3351           53753                           DXCH     MKTIME                                
027094,004838: 24,3352           52157                           DXCH     MPAC       +2                         
027095,004839: 24,3353           53751                           DXCH     TANGNB                                
027096,004840: 24,3354           52161                           DXCH     MPAC       +4                         
027097,004841: 24,3355           53456                           DXCH     AIG                                   
027098,004842: 24,3356           30162                           CA       MPAC       +6                         
027099,004843: 24,3357           55457                           TS       AOG                                   
027100,004844: 24,3360           34753                           CA       ONE                                   
027101,004845: 24,3361           55460                           TS       TRKMKCNT                              #  SHOW THAT DOWNLINK DATA IS CONSISTENT.
027102,004846: 24,3362           15155                           TCF      ENDOFJOB                              
027103,004847: 
027104,004848: 24,3363           40101        R29RRR?            CS       FLAGWRD5                              
027105,004849: 24,3364           74742                           MASK     BIT10                                 
027106,004850: 24,3365           10000                           CCS      A                                     #  WAS IT A SCALE CHANGE (REAL OR PHONY)?
027107,004851: 24,3366           13372                           TCF      ENDRRD29                              #  NO, A BAD READ; REDESIGNATE.
027108,004852: 24,3367           05516                           TC       DOWNFLAG                              
027109,004853: 24,3370           00120                           ADRES    RNGSCFLG                              
027110,004854: 24,3371           13340                           TCF      R29RANGE                              #  YES; CLEAR FLAG AND READ AGAIN.
027111,004855: 
027112,004856: 24,3372           34755        ENDRRD29           CA       ZERO                                  #  TROUBLE MADE US COME HERE TO LEAVE THE
027113,004857: 24,3373           55460                           TS       TRKMKCNT                              #  RR-READING MODE.  DISCREDIT DOWNTEL.
027114,004858: 24,3374           05516                           TC       DOWNFLAG                              
027115,004859: 24,3375           00063                           ADRES    READRFLG                              
027116,004860: 24,3376           44736                           CS       BIT14                                 
027117,004861: 24,3377           00006                           EXTEND                                         
027118,004862: 

Page 618

027120,004864: 24,3400           03012                           WAND     CHAN12                                #  REMOVE TRACK-ENABLE DISCRETE.
027121,004865: 24,3401           15155                           TCF      ENDOFJOB                              
027122,004866: 

Page 619

027124,004868:                                                                                                  #  W-MATRIX MONITOR
027125,004869: 
027126,004870: 31,2011                                           BANK     31                                    
027127,004871: 31,2000                                           SETLOC   VB67                                  
027128,004872: 31,2000                                           BANK                                           
027129,004873: 31,2011                                           COUNT*   $$/EXTVB                              
027130,004874: 
027131,004875: 31,2011  E4,1604                                  EBANK=   WWPOS                                 
027132,004876: 
027133,004877: 31,2011           06036        V67CALL            TC       INTPRET                               
027134,004878: 31,2012           77624                           CALL                                           
027135,004879: 31,2013           62114                                    V67WW                                 
027136,004880: 31,2014           77776                           EXIT                                           
027137,004881: 31,2015           00006                           EXTEND                                         #  SAVE THE PRESENT N99 VALUES FOR
027138,004882: 31,2016           31605                           DCA      WWPOS                                 #  COMPARISON AFTER THE DISPLAY
027139,004883: 31,2017           53611                           DXCH     WWVEL      +2                         
027140,004884: 31,2020           00006                           EXTEND                                         
027141,004885: 31,2021           31607                           DCA      WWVEL                                 
027142,004886: 31,2022           53613                           DXCH     WWVEL      +4                         
027143,004887: 31,2023           32171        V06N99DS           CAF      V06N99                                
027144,004888: 31,2024           04616                           TC       BANKCALL                              
027145,004889: 31,2025           20231                           CADR     GOXDSPFR                              
027146,004890: 31,2026           15472                           TCF      ENDEXT                                
027147,004891: 31,2027           12034                           TCF      +5                                    
027148,004892: 31,2030           12023                           TCF      V06N99DS                              
027149,004893: 31,2031           34751                           CAF      BIT3                                  
027150,004894: 31,2032           05464                           TC       BLANKET                               
027151,004895: 31,2033           05155                           TC       ENDOFJOB                              
027152,004896: 31,2034           22007                 +5        ZL                                             
027153,004897: 31,2035           36244                           CA       THREE                                 
027154,004898: 31,2036           54002        N99LOOP            TS       Q                                     
027155,004899: 31,2037           50002                           INDEX    Q                                     
027156,004900: 31,2040           41604                           CS       WWPOS                                 
027157,004901: 31,2041           50002                           INDEX    Q                                     
027158,004902: 31,2042           61610                           AD       WWPOS      +4                         
027159,004903: 31,2043           26001                           ADS      L                                     
027160,004904: 31,2044           10002                           CCS      Q                                     #  THE SUM OF ALL DIFFERENCES MUST BE ZERO.
027161,004905: 31,2045           12036                           TCF      N99LOOP                               
027162,004906: 31,2046           22000                           LXCH     A                                     
027163,004907: 31,2047           00006                           EXTEND                                         
027164,004908: 31,2050           12053                           BZF      V06N9933                              
027165,004909: 31,2051           05504                           TC       UPFLAG                                
027166,004910: 31,2052           00160                           ADRES    V67FLAG                               
027167,004911: 
027168,004912: 31,2053           06036        V06N9933           TC       INTPRET                               
027169,004913: 31,2054           77414                           BON      EXIT                                  
027170,004914: 31,2055           03707                                    V67FLAG                               
027171,004915: 31,2056           62060                                    +2                                    
027172,004916: 31,2057           15472                           TCF      ENDEXT                                
027173,004917: 31,2060           41345                           DLOAD    DMP                                   
027174,004918: 

Page 620

027176,004920: 31,2061           02205                                    WWPOS                                 
027177,004921: 31,2062           22170                                    1/SQRT3                               
027178,004922: 31,2063           72412                           SL4      SL1                                   
027179,004923: 31,2064           14001                           STODL    0D                                    
027180,004924: 31,2065           02207                                    WWVEL                                 
027181,004925: 31,2066           77605                           DMP                                            
027182,004926: 31,2067           22170                                    1/SQRT3                               
027183,004927: 31,2070           00003                           STORE    2D                                    
027184,004928: 31,2071           72014                           BON      LXA,1                                 
027185,004929: 31,2072           04307                                    SURFFLAG                              
027186,004930: 31,2073           62103                                    V67SURF                               
027187,004931: 31,2074           00000                                    0D                                    
027188,004932: 31,2075           72130                           SXA,1    LXA,1                                 
027189,004933: 31,2076           02000                                    WRENDPOS                              
027190,004934: 31,2077           00002                                    2D                                    
027191,004935: 31,2100           52130                           SXA,1    GOTO                                  
027192,004936: 31,2101           02001                                    WRENDVEL                              
027193,004937: 31,2102           62111                                    V67CLRF                               
027194,004938: 31,2103           66150        V67SURF            LXA,1    SXA,1                                 
027195,004939: 31,2104           00000                                    0D                                    
027196,004940: 31,2105           02006                                    WSURFPOS                              
027197,004941: 31,2106           66150                           LXA,1    SXA,1                                 
027198,004942: 31,2107           00002                                    2D                                    
027199,004943: 31,2110           02007                                    WSURFVEL                              
027200,004944: 31,2111           77414        V67CLRF            CLEAR    EXIT                                  
027201,004945: 31,2112           02676                                    RENDWFLG                              
027202,004946: 31,2113           15472                           TCF      ENDEXT                                
027203,004947: 31,2114           40020        V67WW              STQ      BOV                                   
027204,004948: 31,2115           00051                                    S2                                    
027205,004949: 31,2116           62117                                    +1                                    
027206,004950: 31,2117           45014                           CLEAR    CALL                                  
027207,004951: 31,2120           03667                                    V67FLAG                               
027208,004952: 31,2121           27412                                    INTSTALL                              
027209,004953: 31,2122           71331                           SSP      DLOAD                                 
027210,004954: 31,2123           00051                                    S1                                    
027211,004955: 31,2124           00006                           DEC      6          B-14                       
027212,004956: 31,2125           06424                                    ZEROVECS                              
027213,004957: 31,2126           02205                           STORE    WWPOS                                 
027214,004958: 31,2127           02207                           STORE    WWVEL                                 
027215,004959: 31,2130           77770                           AXT,1                                          
027216,004960: 31,2131           00066                           DEC      54         B-14                       
027217,004961: 31,2132           47573        NXPOSVEL           VLOAD*   VSQ                                   
027218,004962: 31,2133           02467                                    W          +54D,1                     
027219,004963: 31,2134           77615                           DAD                                            
027220,004964: 31,2135           02205                                    WWPOS                                 
027221,004965: 31,2136           02205                           STORE    WWPOS                                 
027222,004966: 31,2137           47573                           VLOAD*   VSQ                                   
027223,004967: 31,2140           02555                                    W          +108D,1                    
027224,004968: 31,2141           77615                           DAD                                            
027225,004969: 31,2142           02207                                    WWVEL                                 
027226,004970: 

Page 621

027228,004972: 31,2143           02207                           STORE    WWVEL                                 
027229,004973: 31,2144           75500                           TIX,1    SQRT                                  
027230,004974: 31,2145           62132                                    NXPOSVEL                              
027231,004975: 31,2146           16207                           STODL    WWVEL                                 
027232,004976: 31,2147           02205                                    WWPOS                                 
027233,004977: 31,2150           77766                           SQRT                                           
027234,004978: 31,2151           02205                           STORE    WWPOS                                 
027235,004979: 31,2152           52000                           BOV      GOTO                                  
027236,004980: 31,2153           62155                                    +2                                    
027237,004981: 31,2154           62161                                    V67XXX                                
027238,004982: 31,2155           77745                           DLOAD                                          
027239,004983: 31,2156           06432                                    DPPOSMAX                              
027240,004984: 31,2157           02205                           STORE    WWPOS                                 
027241,004985: 31,2160           02207                           STORE    WWVEL                                 
027242,004986: 31,2161           66150        V67XXX             LXA,1    SXA,1                                 
027243,004987: 31,2162           00051                                    S2                                    
027244,004988: 31,2163           00052                                    QPRET                                 
027245,004989: 31,2164           77776                           EXIT                                           
027246,004990: 31,2165           04635                           TC       POSTJUMP                              
027247,004991: 31,2166           27427                           CADR     INTWAKE                               
027248,004992: 
027249,004993: 31,2167           22363 11620  1/SQRT3            2DEC     0.5773502                             
027250,004994: 31,2171           01543        V06N99             VN       0699                                  
027251,004995: 

Page 622

027253,004997: 25,3607                                           BANK     25                                    
027254,004998: 25,2000                                           SETLOC   RADARUPT                              
027255,004999: 25,2000                                           BANK                                           
027256,005000: 25,3607                                           COUNT*   $$/RRUPT                              
027257,005001: 
027258,005002: 25,3607  E7,1454                                  EBANK=   LOSCOUNT                              
027259,005003: 
027260,005004: 25,3607           34753        R12LITES           CA       ONE                                   
027261,005005: 25,3610           71303                           MASK     IMODES33                              
027262,005006: 25,3611           10000                           CCS      A                                     
027263,005007: 25,3612           14707                           TCF      ISWRETRN                              
027264,005008: 
027265,005009: 25,3613           03630                           TC       HLIGHT                                
027266,005010: 25,3614           03625                           TC       HLIGHT     -3                         
027267,005011: 25,3615           14707                           TCF      ISWRETRN                              
027268,005012: 
027269,005013: 25,3616           34753        RADLITES           CA       BIT1                                  
027270,005014: 25,3617           71303                           MASK     IMODES33                              
027271,005015: 25,3620           10000                           CCS      A                                     
027272,005016: 25,3621           00002                           TC       Q                                     
027273,005017: 
027274,005018: 25,3622           44747                           CS       BIT5                                  
027275,005019: 25,3623           60061                           AD       ITEMP1                                
027276,005020: 25,3624           10000                           CCS      A                                     
027277,005021: 25,3625           44753                           CS       ONE                                   
027278,005022: 25,3626           13664                           TCF      VLIGHT                                
027279,005023: 
027280,005024: 25,3627           14570                           TCF      RRTRKF                                
027281,005025: 
027282,005026: 25,3630           54065        HLIGHT             TS       ITEMP5                                #  ZERO ITEMP5 FOR H INDEX
027283,005027: 
027284,005028: 25,3631           34747                           CA       HLITE                                 
027285,005029: 25,3632           54001                           TS       L                                     
027286,005030: 
027287,005031: 25,3633           30107                           CA       FLGWRD11                              
027288,005032: 25,3634           74751                           MASK     SCABBIT                               
027289,005033: 25,3635           10000                           CCS      A                                     
027290,005034: 25,3636           13656                           TCF      ONLITES                               
027291,005035: 25,3637           34747                           CA       BIT5                                  
027292,005036: 25,3640           70110        BOTHLITS           MASK     RADMODES                              
027293,005037: 25,3641           10000                           CCS      A                                     
027294,005038: 25,3642           13656                           TCF      ONLITES                               
027295,005039: 
027296,005040: 25,3643           30107                           CA       FLGWRD11                              
027297,005041: 25,3644           50065                           INDEX    ITEMP5                                
027298,005042: 25,3645           74753                           MASK     HFLSHBIT                              
027299,005043: 25,3646           10000                           CCS      A                                     
027300,005044: 25,3647           14570                           TCF      RRTRKF                                
027301,005045: 

Page 623

027303,005047: 25,3650           00006        LITIT              EXTEND                                         
027304,005048: 25,3651           22066                           QXCH     ITEMP6                                
027305,005049: 25,3652           04602                           TC       TRKFLON    +1                         
027306,005050: 
027307,005051: 25,3653           00006                           EXTEND                                         
027308,005052: 25,3654           22066                           QXCH     ITEMP6                                
027309,005053: 25,3655           14570                           TCF      RRTRKF                                
027310,005054: 
027311,005055: 
027312,005056: 25,3656           50065        ONLITES            INDEX    ITEMP5                                
027313,005057: 25,3657           44753                           CS       HFLSHBIT                              
027314,005058: 25,3660           70107                           MASK     FLGWRD11                              
027315,005059: 25,3661           54107                           TS       FLGWRD11                              
027316,005060: 
027317,005061: 25,3662           30001                           CA       L                                     
027318,005062: 25,3663           13650                           TCF      LITIT                                 
027319,005063: 25,3664           54065        VLIGHT             TS       ITEMP5                                
027320,005064: 25,3665           34751                           CA       VLITE                                 
027321,005065: 25,3666           54001                           TS       L                                     
027322,005066: 25,3667           34744                           CA       BIT8                                  
027323,005067: 25,3670           13640                           TCF      BOTHLITS                              
027324,005068: 
027325,005069: 25,3671     4747               HLITE              EQUALS   BIT5                                  
027326,005070: 25,3671     4751               VLITE              EQUALS   BIT3                                  

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