This paper presents the use of the Linear Congruence Modified Pushing Sequence (LC-MPS) waveforms application as target tracking, for Ground Control Intercept (GCI) based Fire Control Radar (FCR). The distinct features of LC-MPS are combined with Linear Frequency Modulation (LFM), and a new approach has been developed for the radar waveform design on an adaptive basis, that is suitable for fire control radar systems and Track before Detect (TBD) applications.