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REENTRY_CONTROL.s
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REENTRY_CONTROL.s
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# Copyright: Public domain.
# Filename: REENTRY_CONTROL.agc
# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 844-882
# Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
# same name, using Comanche055 page images.
# 2009-05-23 RSB In a couple of 2OCT statements, removed the
# space between the first and second octal words.
#
# This source code has been transcribed or otherwise adapted from digitized
# images of a hardcopy from the MIT Museum. The digitization was performed
# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
# thanks to both. The images (with suitable reduction in storage size and
# consequent reduction in image quality as well) are available online at
# www.ibiblio.org/apollo. If for some reason you find that the images are
# illegible, contact me at info@sandroid.org about getting access to the
# (much) higher-quality images which Paul actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
# Page 844
# ENTRY INITIALIZATION ROUTINE
# ----------------------------
BANK 25
SETLOC REENTRY
BANK
COUNT* $$/ENTRY
EBANK= RTINIT
EBENTRY = EBANK7
EBAOG EQUALS EBANK6
NTRYPRIO EQUALS PRIO20 # (SERVICER)
CM/FLAGS EQUALS STATE +6
STARTENT EXIT # MM = 63
# COME HERE FROM CM/POSE. RESTARTED IN CM/POSE.
CS ENTMASK # INITIALIZE ALL SWITCHES TO ZERO
# EXCEPT LATSW, ENTRYDSP, AND GONEPAST.
# GONEBY 112D BIT8 FLAG7, SELF-INITIALIZING.
INHINT
MASK CM/FLAGS
# ENTRYDSP = 92D B13
# GONEPAST=95D B10 RELVELSW=96D B9
# EGSW = 97D B8
# HIND=99D B6 INRLSW=100D B5
# LATSW=101D B4 .05GSW=102D B3
AD ENTRYSW
TS CM/FLAGS
RELINT
TC INTPRET
SLOAD
LODPAD
STORE LOD
SLOAD
LADPAD
STORE LAD
DMP # L/DCMINR = LAD COS(15)
COS15
STODL L/DCMINR
LATSLOPE
DMP SR1 # KLAT = LAD/24
LAD
# Page 845
STODL KLAT
Q7F
STODL Q7 # Q7 = Q7F
NEARONE # 1.0 -1BIT
STODL FACTOR
LAD
SIGN DCOMP
HEADSUP # MAY BE NOISE FOR DISPLAY P61
STCALL L/D # L/D = - LAD SGN(HEADSUP)
STARTEN1 # RETURN VIA GOTOADDR
VLOAD VXV
VN # (-7) M/CS
UNITR # .5 UNIT REF COORDS
UNIT DOT
RT # RT/2 TARGET VECTOR REF COORDS
STORE LATANG # LATANG = UNI.RT /4
DCOMP RTB
SIGNMPAC
STODL K2ROLL # K2ROLL = -SGN(LATANG)
LAD
DMP DAD
Q21
Q22
STORE Q2 # Q2 = -1152 + 500 LAD
SSP SSP
GOTOADDR # SET SELECTOR FOR INITIAL PASS
INITROLL
POSEXIT
SCALEPOP # SET CM/POSE TO CONTINUE AT SCALEPOP
RTB
SERVNOUT # OMIT INITIAL DISPLAY, SINCE 1ST GUESSBAD
# CALCULATE THE INITIAL TARGET VECTOR: RTINIT, ALSO RTEAST, RTNORM, AND RT. ALL ARE .5 UNIT AND IN
# REFERENCE COORDINATES.
STARTEN1 STQ VLOAD
GOTOADDR
LAT(SPL) # TARGET COORDINATES
CLEAR CLEAR # DO CALL USING PAD RADIUS. WILL UNIT IT.
ERADFLAG # ANYWAY.
LUNAFLAG
STODL LAT
3ZEROS
STODL LAT +4 # SET ALT=0.
PIPTIME # ESTABLISH RTINIT AT TIME OF PRESENT
# Page 846
# RN AND VN.
STCALL TIME/RTO # SAVE TIME BASE OF RTINIT.
LALOTORV # C(MPAC) =TIME (PIPTIME)
UNIT # ANSWER IN ALPHAV ALSO
STODL RTINIT # .5 UNIT TARGET REF COORDS
500SEC # NOMINAL ENTRY TIME FOR P63
# TIME/RTO = PIPTIME, STILL.
STCALL DTEAROT # INITIALIZE EARROT
EARROT1 # GET R5
DOT SL1
UNITR # RT/2 IN MPAC
ACOS
STCALL THETAH # RANGE ANGLE /360
GOTOADDR # RETURN TO CALLER
500SEC 2DEC 50000 B-28 # CS.
ENTMASK OCT 11774
ENTRYSW OCT 11010 # ENTRYDSP B13. GONEPAST B10. LATSW B4
# Page 847
SCALEPOP CALL
TARGETNG
EXIT
REFAZE10 TC PHASCHNG
OCT 10035 # SERVICER 5.3 RESTART AT REFAZE10
TC INTPRET
# JUMP TO PARTICULAR RE-ENTRY PHASE:
# SEQUENCE
GOTO
GOTOADDR
# GOTOADDR CONTAINS THE ADDRESS OF THE ROLL COMMAND EQUATIONS TO THE CURRENT PHASE OF
# RE-ENTRY. SEQUENCING IS AS FOLLOWS:
#
# INITROLL ADDRESS IS SET HERE INITIALLY. HOLDS INITIAL ROLL ATTITUDE UNTIL KAT IS EXCEEDED. THEN HOLDS NEW ROLL
# ATTITUDE UNTIL VRTHRESH IS EXCEEDED. THEN BRANCHES TO
#
# HUNTEST THIS SECTION CHECKS TO SEE IF THE PREDICTED RANGE AT NOMINAL L/D FROM PRESENT CONDITIONS IS LESS
# THAN THE DESIRED RANGE.
# IF NOT --- A ROLL COMMAND IS GENERATED BY THE CONSTANT DRAG CONTROLLER.
# IF SO --- CONTROL AND GOTOADDR ARE SET TO UPCONTRL.
# USUALLY NO ITERATION IS INVOLVED EXCEPT IF THE RANGE DESIRED IS TOO LONG ON THE FIRST PASS THROUGH
# HUNTEST.
#
# UPCONTRL CONTROLS ROLL DURING THE SUPER-CIRCULAR PHASE. UPCONTRL IS TERMINATED EITHER
# (A) WHEN THE DRAG (AS MEASURED BY THE PIPAS) FALLS BELOW Q7, OR
# (B) IF RDOT IS NEGATIVE AND REFERENCE VL EXCEEDS V.
# IN CASE (A), GOTOADDR IS SET TO KEP2 AND IN CASE (B), TO PREDICT3 SKIPPING THE KEPLER PHASE OF
# ENTRY.
#
# KEP2 GOTOADDR IS SET HERE DURING THE KEPLER PHASE TO MONITOR DRAG. THE SPACECRAFT IS INSTANTANEOUSLY
# TRIMMED IN PITCH AND YAW TO THE COMPUTED RELATIVE VELOCITY. THE LAST COMPUTED ROLL ANGLE IS MAINTAINED.
# WHEN THE MEASURED DRAG EXCEEDS Q7 +0.5, GOTOADDR IS SET TO
#
# PREDICT3 THIS CONTROLS THE FINAL SUB-ORBITAL PHASE. ROLL COMMANDS CEASE
# WHEN V IS LESS THAN VQUIT . AN EXIT IS MADE TO
#
# P67.1 THE LAST COMPUTED ROLL ANGLE IS MAINTAINED. RATE DAMPING IS DONE IN PITCH AND YAW. PRESENT LATITUDE
# AND LONGITUDE ARE COMPUTED FOR DISPLAY.
# ENTRY IS TERMINATED WHEN DISKY RESPONSE IS MADE TO THIS FINAL FLASHING DISPLAY.
# Page 848
# PROCESS AVERAGE G OUTPUT...SCALE IT AND GET INPUT DATA
# * START TARGETING ...
EBANK= RTINIT
# TARGETNG IS CALLED BY P61, FROM GROUP 4.
# TARGETNG IS CALLED BY ENTRY, FROM GROUP 5.
# ALL MM COME HERE.
TARGETNG BOFF VLOAD # ENTER WITH PROPER EB FROM CM/POSE(TEST)
RELVELSW # RELVELSW = 96D BIT9
GETVEL # WANT INERTIAL VEL. GO GET IT.
-VREL # NEW V IS RELATIVE, CONTINUE
VCOMP GOTO # (VREL) = (V) + KWE UNITR*UNITW
GETUNITV -1 # - VREL WAS LEFT BY CM/POSE
GETVEL VLOAD VXSC # INERTIAL V WANTED
VN # KVSCALE = (12800 / .3048) / 2VS
KVSCALE # KVSCALE = .81491944
STORE VEL # V/2 VS
GETUNITV UNIT STQ
60GENRET
STODL UNITV
34D
STORE VSQUARE # VSQ/4
DSU # LEQ = VSQUARE - 1
FOURTH # 4 G'S FULL SCALE
STODL LEQ # LEQ/4
36D
STOVL V # V/2 VS = VEL/2 VS
VEL
DOT SL1 # RDOT= V.UNITR
UNITR
STOVL RDOT # RDOT /2 VS
DELV # PIPA COUNTS IN PLATFORM COORDS.
ABVAL DMP
KASCALE
SL1 BZE
SETMIND
DSTORE STOVL D # ACCELERATION USED TO APPROX DRAG
VEL
VXV UNIT # UNI = UNIT(V*R)
# Page 849
UNITR
STORE UNI # .5 UNI REF COORDS.
BOFF DLOAD
RELVELSW
GETETA
3ZEROS
UPDATERT DSU DAD # PIPTIME-TIME/RTO =ELAPSED TIME SINCE
# RTINIT WAS ESTABLISHED.
TIME/RTO
PIPTIME
STCALL DTEAROT # GET PREDICTED TARGET VECTOR RT
EARROT2
DOT SETPD # SINCE (RT) UNIT VECT, THIS IS 1/4 MAX
UNI # LATANG = RT.UNI
0
STOVL LATANG # LATANG = MAC LATANG / 4
RT
CLEAR
GONEBY # SHOW HAVE NOT GONE PAST TARGET.
VXV DOT # IF RT*UNITR.UNI NEG, GONEBY=1
UNITR # GONEPAST IS CONDITIONAL SW SET IN
UNI # FINAL PHASE.
BPL SET
+2
GONEBY # SHOW HAVE GONE PAST TARGET.
VLOAD
RT
GETANGLE DOT DSU # THETA = ARCCOS(RT.UNITR)
UNITR
NEAR1/4 # TO IMPROVE ACCURACY, CALC RANGE BY
BPL DAD # TINYTHET IF HIGH ORDER PART OF
TINYTHET # ARCCOS ARGUMENT IS ZERO
NEAR1/4
SL1 ACOS
THETDONE STORE THETAH # THETAH/360
# HI WORD, LO BIT =1.32 NM=360 60/16384
BON DCOMP
GONEBY # =1 IF HAVE GONE PAST TARGET.
# (SIGN MAY BECOME ERRATIC VERY NEAR
# TARGET DUE TO LOSS OF PRECISION.)
+1
STODL RTGON67 # RANGE ERROR: NEG IF WILL FALL SHORT.
D
DSU BMN
# Page 850
.05G
NO.05G
SET VLOAD
.05GSW
DELVREF
PUSH DOT
UXA/2
SL1 DSQ
PDVL VSQ # EXCHANGE WITH PDL.
DSU DDV
0
BOV SQRT
NOLDCALC # OVFL LAST CLEARED IN EARROT2 ABOVE.
STORE L/DCALC
NOLDCALC GOTO
60GENRET
NO.05G CLEAR GOTO # THIS WAY FOR DAP. (MAY INTERRUPT)
.05GSW # .05GSW = 102D B3
NOLDCALC # KEEP SINGLE EXIT FOR TARGETING
# Page 851
# SUBROUTINES CALLED BY SCALEPOP (TARGETING):
BANK 26
SETLOC REENTRY1
BANK
COUNT* $$/ENTRY
GETETA DLOAD DDV # D = D +D(-RDOT/HS -2D/V) DT/2
# DT/2 = 2/2 =1
RDOT
-HSCALED
PDDL DMP
D
-KSCALE
DDV DAD
V
# -RDOT/HS FROM PDL.
DMP DAD
D
D
STORE D
BON DLOAD # EGSW INDICATES FINAL PHASE
EGSW
SUBETA
THETAH
DMP GOTO
KTETA # = 1000x2PI/(2)E14 163.84
UPDATERT
SUBETA DLOAD DSU # SWITCH FROM INERTIAL TO RELATIVE VEL.
V
VMIN
BPL SET
SUBETA2
RELVELSW
SUBETA2 DLOAD DMP
THETAH
KT1 # KT1 = KT
DDV GOTO
V # KT = RE(2 PI)/2 VS 16384 163.84/ 2 VSAT
UPDATERT
SETMIND DLOAD GOTO
1BITDP
DSTORE
# Page 852
TINYTHET DSU ABS # ENTER WITH X-.249
1BITDP +1 # GET 1/4 - MPAC
SL SQRT # SCALE UP BEFORE SQRT
13D # HAS FACTOR FOR UP SCALING
DMP GOTO
KACOS
THETDONE
# Page 853
# * START INITIAL ROLL ...
BANK 25
SETLOC REENTRY
BANK
COUNT* $$/ENTRY
# MM = 63, 64, ...
INITROLL BON BOFF # IF D- .05G NEG, GO TO LIMITL/D
INRLSW
INITRL1
.05GSW
LIMITL/D
# MM = 64, NOW
# 3
# KA = KA1 LEG + KA2
DLOAD DSQ
LEQ
DMP DDV
LEQ
1/KA1 # = 25 /(64 1.8)
DAD RTB
KA2 # = .2
P64 # ROLLC VI RDOT
# XXX.XX DEG XXXXX. FPS XXXXX. FPS
STORE KAT
DSU BMN
KALIM
+4
DLOAD
KALIM
STORE KAT
DLOAD DSU # IF V-VFINAL1 NEG, GO TO FINAL PHASE.
V
VFINAL1
CLEAR BPL # (CAN'T CLEAR INRLSW AFTER HERE: RESTARTS)
GONEPAST # GONEPAST WAS INITIALLY SET=1 TO FORCE
# ROLLC TO REMAIN AS DEFINED BY HEADSUP
# UNTIL START OF P64. (UNTIL D > .05G)
D0EQ
SSP GOTO
GOTOADDR
KEP2 # AND IDLE UNTIL D > 0.2 G. (NO P66 HERE)
INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW.
D0EQ DLOAD DMP # D0 = KA3 LEQ + KA4
# Page 854
LEQ
KA3
DAD
KA4
STORE D0 # D0/805
BDDV BOV
C001 # (-4/25 G) B-8
+1 # CLEAR OVFIND, IF ON.
STODL C/D0 # (-4/D0) B-8
LAD # IF V-VFINAL +K(RDOT/V)CUBED POS,L/D=-LAD
STODL L/D
RDOT
DDV PUSH
V
DSQ DMP
DDV DSU
1/K44
VFINAL
# 3
# V-VFINAL +(RDOT/V) / K44 OVFL $
DAD BOV
V
INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW.
BMN DLOAD
INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW.
LAD
DCOMP
STORE L/D
# SET INRLSW AT END FOR RESTART PROTECTION
INROLOUT BOFSET # END OF PRE .05G PATH OF INITROLL.
INRLSW # SWITCH IS ZERO INITIALLY.
LIMITL/D # (GO TO)
KATEST DLOAD DSU # IF KAT - D POS, GO TO CONSTD
KAT
D # IF POS, OUT WITH COMMAND VIA LIMITL/D
BPL GOTO
LIMITL/D
CONSTD
INITRL1 DLOAD DAD # IF RDOT + VRCONT POS, GO TO HUNTEST
RDOT
VRCONT
BMN CALL # IF POSITIVE, FALL INTO HUNTEST.
KATEST
FOREHUNT # INITIALIZE HUNTEST.
# Page 855
# * START HUNT TEST ...
# MM = 64
SSP # INITIALIZE HUNTEST ON FIRST PASS
GOTOADDR
HUNTEST # MUST GO AFTER FOREHUNT FOR RESTARTS.
HUNTEST DLOAD
D
STODL A1 # A1/805 = A1/25G
LAD
STODL TEM1B
RDOT
BMN DLOAD # IF RDOT NEG,TEM1B=LAD, OTHERWISE = LEWD
A0CALC
LEWD
STODL TEM1B
RDOT
A0CALC DDV DAD # V1 = V + RDOT/TEM1B
TEM1B
V
STODL V1 # V1/2 VS
RDOT
DSQ DDV # A0=(V1/V)SQ(D+RDOT SQ/(TEM1B 2 C1 HS)
TEM1B
DDV DAD
2C1HS
D
DMP DMP
V1
V1
DDV
VSQUARE
STODL A0 # A0/805 = A0/25G
RDOT
BPL DLOAD
V1LEAD
A0
STORE A1 # A1/25G
V1LEAD DLOAD BPL # IF L/D NEG, V1=V1 - 1000
L/D
HUNTEST1
DLOAD DSU
V1
# Page 856
VQUIT
STORE V1
HUNTEST1 DLOAD DMP # ALP = 2 C1 HS A0/LEWD V1 V1
A0
2C1HS
DDV SETPD
V1
0
DDV DDV
V1
LEWD
STORE ALP
BDSU BDDV # FACT1 = V1 / (1 - ALP)
BARELY1
V1
STODL FACT1 # FACT1 / 2VS
ALP
DSU DMP # FACT2 = ALP(ALP - 1) / A0
BARELY1
ALP
DDV
A0
STORE FACT2 # FACT2 (25G)
DMP DAD
Q7 # Q7 / 805 = Q7 / 25G
ALP # VL=FACT1 (1-SQRT(Q7 FACT2 +ALP) )
SQRT BDSU
BARELY1
DMP
FACT1
STORE VL # VL / 2 VS
BDSU DMP # GAMMAL1 = LEWD (V1-VL)/VL
V1
LEWD
DDV
VL
STODL GAMMAL1 # GAMMAL1 USED IN UPCONTROL.
# GAMMAL1 = PDL 22D.
VL
DSU BMN # IF VL-VLMIN NEG, GO TO PREFINAL
VLMIN
PREFINAL
DLOAD DSQ
# Page 857
VL
STODL VBARS # VBARS / 4 VS VS
HALVE # IF VSAT-VL NEG, GO TO CONSTD
DSU BMN
VL
BECONSTD # SET MODE=HUNTEST, CONTINUE IN CONSTD
STODL DVL # DVL / 2VS
HALVE
STORE VS1 # VS1 = VSAT
DSU BMN # IF V1 GREATER THAN VSAT, GO ON
V1
GETDHOOK
BDSU
DVL
STODL DVL # DVL = DVL - (VSAT-V1) = V1 - VL
V1
STORE VS1 # VS1 = V1, IN THIS CASE
GETDHOOK DLOAD CALL # DHOOK=((1-VS1/FACT1) SQ -ALP)/FACT2
VS1 # VS1 / 2 VS
DHOOKYQ7 # GO CALC DHOOK
STORE DHOOK # DHOOK / 25G
SR DDV
6 # CHOOK
Q7
DSU
CHOOK # = .25/16 = (-6)
STORE AHOOKDV
DAD DMP # GAMMAL= GAMMAL1-CH1 DVL SQ(1+AHOOK DVL)
1/16TH
CH1
DMP DMP
DVL
DVL
DDV DDV
DHOOK
VBARS
BDSU BMN
GAMMAL1
NEGAMA
HUNTEST3 STORE GAMMAL
DSU # GAMMAL1=GAMMAL1 +Q19 (GAMMAL-GAMMAL1)
GAMMAL1
DMP DAD
# Page 858
Q19
GAMMAL1
STODL GAMMAL1
GAMMAL
# Page 859
# *START RANGE PREDICTION ...
# C(MPAC) = GAMMAL.
RANGER DSQ SR2 # COSG = 1-GAMMAL SQ/2, TRUNCATED SERIES
BDSU
HALVE
STODL COSG/2
VBARS # E=SQRT(1+VBARS........
DSU DMP
HALVE
VBARS
DMP DMP
COSG/2
COSG/2
SL2 DAD
C1/16 # C1/16 = 1/16
SQRT PDDL # E/4 INTO PDL
VBARS
DMP DMP # ASKEP/2 = ARCSIN(VBARS COSG SING/E)
COSG/2
GAMMAL
DDV ASIN
SL1 PUSH # ASKEP TO PDL 0.
STODL ASKEP # BALLISTIC RANGE ASKEP/2PI
# FOR TM, STORE RANGE COMPONENTS OVERLAPPING (SP)
VL
DMP DAD # ASP1 = Q2 + Q3 VL
Q3
Q2
STORE ASP1 # FINAL PHASE RANGE ASP1/2 PI
PDDL DSQ # ASP1 TO PDL 2.
V1
# 2
# ASPUP= -C12 LOG(V1 Q7/VBARS A0)/GAMMAL1
DMP DDV
Q7
VBARS
DDV CALL
A0
LOG # RETURN WITH -LOG IN MPAC
DMP DDV
C12
GAMMAL1
STORE ASPUP # UP PHASE RANGE ASPUP / 2 PI
# Page 860
PDDL DMP # ASPUP TO PDL 4.
KC3 # KC3 = -4 VS VS / 2 PI 805 RE
# ASPDWN = KC3 RDOT V / A0
RDOT
DMP DDV
V
A0
DDV PUSH # ASPDWN TO PDL 6.
LAD
STODL ASPDWN # RANGE TO PULL OUT ASPDWN /2 PI
Q6
DSU DMP # ASP3 = Q5(Q6-GAMMAL)
GAMMAL
Q5
STOVL ASP3 # GAMMA CORRECTION ASP3/2PI
ASKEP # GET HI-WD AND
STODL ASPS(TM) # SAVE HI-WORD OF ASP'S FOR TM.
ASP3
DAD DAD
# ASPDWN FROM PDL 6.
# ASPUP FROM PDL 4.
DAD DAD
# ASP1 FROM PDL 2.
# ASKEP FROM PDL 0.
DSU BOVB # CLEAR OVFIND.
THETAH
TCDANZIG
STORE DIFF # DIFF = (ASP-THETAH) / 2 PI
# ASP=ASKEP+ASP1+ASPUP+ASP3+ASPDWN = TOTAL RANGE
ABS DSU # IF ABS(THETAH-ASP) -25NM NEG, GO TO UPSY
25NM
BMN BON
GOTOUPSY
HIND
GETLEWD
DLOAD BPL
DIFF
DCONSTD # EVENTUALLY SETS MODE = HUNTEST.
GETLEWD DLOAD DMP
# DLEWD = DLEWD (DIFF/(DIFFOLD-DIFF))
DLEWD
DIFF
PDDL DSU
DIFFOLD
DIFF
# Page 861
BDDV
LWDSTORE STADR
STORE DLEWD
DAD BMN # IF LEWD+DLEWD NEG, DLEWD=-LEWD/2
LEWD
LEWDPTR
BOV
LEWDOVFL
STORE LEWD
SIDETRAK EXIT
CA EBENTRY
TS EBANK
CA PRIO16 # DROP GRP 5 RESTART PRIO TO 1 LESS THAN
TS PHSPRDT5 # GRP 4.
TC PHASCHNG
OCT 00474 # RESTART GRP 4 AT PRE-HUN.
# FORCE RESTART TO PICK UP IN GRP 4:
# USE PRIO 17 FOR GRP 4 (< SERVICER PRIO)
CA PRIO16 # CONTINUE GRP 5 AT LOWER PRIO THAN EITHER
# GRP 4 OR SERVICER.
TC PRIOCHNG
CAF ADENDEXT # SIDETRACK NEXT PASS UNTIL THIS ONE DONE.
TS GOTOADDR # ONLY AFTER RESTART IS LEFT AFTER DETOUR.
TC INTPRET
DLOAD SET
DIFF
HIND
STODL DIFFOLD # DIFFOLD / 2 PI
Q7F
STCALL Q7 # Q7 / 805 FPSS
HUNTEST # (GO TO)
LEWDOVFL DLOAD
NEARONE
STCALL LEWD
DCONSTD # (GO TO) ALSO WILL SET MODE = HUNTEST
LEWDPTR DLOAD SR1
LEWD
DCOMP GOTO
LWDSTORE
# Page 862
NEGAMA DMP DMP # ENTER WITH GAMMAL IN MPAC
VL
1/3RD
PDDL DMP # PUSH GAMMAL VL/3
LEWD
1/3RD
PDDL DAD # PUSH LEWD/3
AHOOKDV
1/24TH
DMP DMP # DEL VL = (GAMMAL VL/3)/(LEWD/3-DVL
DVL # (2/3 + AHOOKDV)(CH1 GS/DHOOK VL))
CH1
DDV DDV
DHOOK
VL
BDSU BDDV
# LEWD/3
# GAMMAL VL /3
DAD
VL
STCALL VL # VL/2 VS
DHOOKYQ7 # GO CALC Q7
# Q7=((1-VL/FACT1)SQ - ALP)/FACT2
STODL Q7 # Q7 / 25G
VL
DSQ
STODL VBARS # VBARS / 4 VS VS
3ZEROS
GOTO # SET GAMMAL = 0
HUNTEST3
DHOOKYQ7 SR1 DDV # SUBROUTINE TO CALC DHOOK OR Q7
FACT1
BDSU SL1
HALVE
DSQ DSU
ALP
DDV RVQ
FACT2
# Page 863
# COME TO PRE-HUNT WHEN RESTART OCCURS AFTER
# HUNTEST IS SIDE-TRACKED AT SIDETRAK.
# PICK UP IN GROUP 4.
PRE-HUNT TC INTPRET
CLEAR CALL
HIND # HIND 99D BIT 6 FLAG 6
FOREHUNT # RE-INITIALIZE HUNTEST AFTER RE-START.
GOTO
HUNTEST
FOREHUNT DLOAD # INITIALIZE HUNTEST.
3ZEROS
STODL DIFFOLD
DLEWD0
STODL DLEWD
LEWD1
STORE LEWD
RVQ
ADENDEXT CADR ENDEXIT
# Page 864
# * START UP CONTROL ...
# MM = 65
GOTOUPSY RTB # END OF HUNTEST
P65 # HUNTEST USE OF GRP4 IS DISABLED BY P65
# USE FOR DISPLAY.
# SET MODE = UPCONTRL.
# RETURN FROM P65 DIRECTLY TO UPDONTRL
# VIA THE GOTOADDR AT REFAZE10.
UPCONTRL DLOAD DSU # IF D-140 POS, NOSWITCH =1
D # (SUPPRESS LATERAL SWITCH)
C21
BMN SET
+2
NOSWITCH
DLOAD DSU # IF V-V1 POS, GO TO DOWN CONTROL.
V
V1
BPL DLOAD
DOWNCNTL
D
DSU BMN # IF D- Q7 NEG, GO TO KEP
Q7
KEP
DLOAD BPL # IF RDOT NEG, DO VLTEST
RDOT
CONT1
VLTEST DLOAD DSU # IF V-VL-C18 NEG,EGSW=1,MODE=PREDICT3
V
VL
DSU BMN
C18
PREFINAL
CONT1 DLOAD # IF D-A0 POS, L/D = LAD, GO TO LIMITL/D
D
DSU BMN
A0
CONT3
DLOAD GOTO
LAD
STOREL/D
CONT3 DLOAD DMP # VREF=FACT1(1-SQRT(FACT2 D + ALP))
D
FACT2
# Page 865
DAD SQRT
ALP
BDSU DMP
BARELY1
FACT1
STORE VREF # VREF / 2VS
BDSU DMP # RDOTREF = LEWD(V1-VREF)
V1
LEWD
STODL RDOTREF # RDOTREF / 2VS
VS1
DSU BMN # IF VSAT-VREF NEG, GO TO CONTINU2
VREF
CONTINU2
PUSH PUSH # VS1-VREF TO PDL TWICE
DMP DDV # RDHOOK=CHI1(1+DV AHOOKDV/DVL) DV DV
AHOOKDV # /DHOOK VREF
DVL # WHERE DV = (VS1-VREF)
DAD DMP
1/16TH
CH1
DMP DMP
# VS1-VREF FROM PDL TWICE.
DDV
DHOOK
DDV BDSU
VREF
RDOTREF # C(RDOTREF)= LEWD (V1-VREF)
STORE RDOTREF # RDOTREF = RDOTREF - RDHOOK
CONTINU2 DLOAD DSU
D
Q7MIN
BOVB BMN
TCDANZIG # CLEAR OVFL IND, IF ON.
UPCNTRL3
DLOAD DSU
A1
Q7
PDDL DSU
D
Q7
DDV STADR
STORE FACTOR # FACTOR / 25G
# Page 866
# SKIPPER
# DELTA L/D=-((RDOT-RDOTREF)F1 KB1+V-VREF)F1 KB2
# WHERE F1 = FACTOR
UPCNTRL3 DLOAD
RDOT
DSU DMP # L/D = LEWD
RDOTREF # -((RDOT-RDOTREF)F1/KB1+V-VREF)F1/KB2
FACTOR
DDV DAD
1/KB1
V
DSU DMP
VREF
FACTOR
DDV PUSH
-1/KB2 # DELTA L/D INTO PDL
BOV ABS # NONLINEAR CIRCUIT FOR REDUCING HIGH GAIN
GOMAXL/D
DSU BMN
PT1/16
NEXT1
DMP DAD
POINT1
PT1/16
SIGN PUSH # ATTACH SIGN OF PUSH TO MPAC THEN PUSH
NEXT1 DLOAD SL4
# DELTA L/D FROM PDL.
DAD
LEWD
NEGTESTS BOV PUSH # L/D TO PDL FOR USE IN NEGTESTS.
GOMAXL/D
STODL L/D
# IF D-C20 POS, LATSW =0
# AND IF L/D NEG, L/D = 0.
D