Great theme music and preferred episodes with Doug McClure

I loved its high tech appeal (circa 70s) and its great theme music. I've never encountered this theme music in any anthology of popular TV series music. Nevertheless, I can still play it in my mind. Brass instruments (trumpet and trombone) dominate it along with a catchy percussion beat. I preferred the episodes with Doug McClure as he injected some needed dose of humor and projected a sympathetic vulnerability.