Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
016792,000002: ## Copyright: Public domain.
016793,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
016794,000004: ## Purpose: A section of Luminary revision 210.
016795,000005: ## It is part of the source code for the Lunar Module's (LM)
016796,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
016797,000007: ## This file is intended to be a faithful transcription, except
016798,000008: ## that the code format has been changed to conform to the
016799,000009: ## requirements of the yaYUL assembler rather than the
016800,000010: ## original YUL assembler.
016801,000011: ## Reference: pp. 385-393
016802,000012: ## Assembler: yaYUL
016803,000013: ## Contact: Ron Burkey <info@sandroid.org>.
016804,000014: ## Website: www.ibiblio.org/apollo/index.html
016805,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
016806,000016: ## 2016-11-26 HG Transcribed
016807,000017: ## 2016-12-23 RSB Proofed comment text with octopus/ProoferComments
016808,000018: ## and fixed all errors found.
016809,000019:
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Page 385 |
016811,000021: # NAME- IMU PERFORMANCE TESTS 2
016812,000022:
016813,000023: # DATE- MARCH 20, 1967
016814,000024:
016815,000025: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
016816,000026:
016817,000027: # MODNO.- ZERO
016818,000028:
016819,000029: # FUNCTIONAL DESCRIPTION
016820,000030:
016821,000031: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
016822,000032: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
016823,000033: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF.E-1973
016824,000034:
016825,000035: 33,2113 BANK 33
016826,000036: 37,2000 SETLOC IMU2
016827,000037: 37,2000 BANK
016828,000038: 37,2002 E5,1416 EBANK= POSITON
016829,000039: 37,2002 COUNT* $$/P07
016830,000040:
016831,000041: 37,2002 05313 REDO TC NEWMODEX
016832,000042: 37,2003 00007 MM 07 B-14
016833,000043:
016834,000044: 37,2004 02325 GEOIMUTT TC IMUZERR
016835,000045: 37,2005 34746 IMUBACK CA ZERO
016836,000046: 37,2006 55414 TS NDXCTR
016837,000047: 37,2007 55440 TS TORQNDX
016838,000048: 37,2010 55441 TS TORQNDX +1
016839,000049: 37,2011 55576 TS OVFLOWCK
016840,000050: 37,2012 34352 NBPOSPL CA DEC17
016841,000051: 37,2013 55571 TS ZERONDX
016842,000052: 37,2014 32476 CA XNBADR
016843,000053: 37,2015 02367 TC ZEROING
016844,000054: 37,2016 34727 CA HALF
016845,000055: 37,2017 55664 TS XNB
016846,000056: 37,2020 06060 GUESS TC INTPRET
016847,000057: 37,2021 62545 LATAZCHK DLOAD SL2
016848,000058: 37,2022 02403 LATITUDE
016849,000059: 37,2023 15046 STODL DSPTEM1 +1
016850,000060: 37,2024 02401 AZIMUTH
016851,000061: 37,2025 77434 RTB EXIT
016852,000062: 37,2026 21624 1STO2S
016853,000063: 37,2027 56154 XCH MPAC
016854,000064: 37,2030 55044 TS DSPTEM1
016855,000065: 37,2031 32473 CAF VN0641
016856,000066: 37,2032 04607 TC BANKCALL
016857,000067: 37,2033 20471 CADR GOFLASH
016858,000068: 37,2034 02270 TC ENDTEST1
016859,000069: 37,2035 02037 TC +2
016860,000070: 37,2036 02031 TC -5
016861,000071:
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Page 386 |
016863,000073: 37,2037 06060 TC INTPRET
016864,000074: 37,2040 47135 SLOAD RTB
016865,000075: 37,2041 01045 DSPTEM1
016866,000076: 37,2042 21606 CDULOGIC
016867,000077: 37,2043 02401 STORE AZIMUTH
016868,000078: 37,2044 60535 SLOAD SR2
016869,000079: 37,2045 01046 DSPTEM1 +1
016870,000080: 37,2046 02403 STORE LATITUDE
016871,000081: 37,2047 57546 COS DCOMP
016872,000082: 37,2050 77752 SL1
016873,000083: 37,2051 16437 STODL WANGI
016874,000084: 37,2052 02403 LATITUDE
016875,000085: 37,2053 72556 SIN SL1
016876,000086: 37,2054 16435 STODL WANGO
016877,000087: 37,2055 02401 AZIMUTH
016878,000088: 37,2056 73406 PUSH SIN
016879,000089: 37,2057 02675 STORE YNB +2
016880,000090: 37,2060 16705 STODL ZNB +4
016881,000091: 37,2061 77746 COS
016882,000092: 37,2062 02677 STORE YNB +4
016883,000093: 37,2063 77676 DCOMP
016884,000094: 37,2064 36703 POSGMBL STCALL ZNB +2
016885,000095: 37,2065 47336 CALCGA
016886,000096: 37,2066 77776 EXIT
016887,000097: 37,2067 04607 TC BANKCALL
016888,000098: 37,2070 16765 CADR IMUCOARS
016889,000099: 37,2071 34727 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
016890,000100: 37,2072 70077 MASK FLAGWRD3
016891,000101: 37,2073 00006 EXTEND
016892,000102: 37,2074 12076 BZF +2
016893,000103: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK,OTHERWISE 0
016894,000104: 37,2076 05520 TC DOWNFLAG
016895,000105: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
016896,000106: 37,2100 02315 TC IMUSLLLG
016897,000107: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
016898,000108: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
016899,000109: 37,2103 02320 TC FINIMUDD
016900,000110: 37,2104 00006 EXTEND
016901,000111: 37,2105 31575 DCA PERFDLAY
016902,000112: 37,2106 05301 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
016903,000113: 37,2107 E5,1416 EBANK= POSITON
016904,000114: 37,2107 02113 76065 2CADR GOESTIMS
016905,000115:
016906,000116: 37,2111 32116 CA ESTICADR
016907,000117: 37,2112 05124 TC JOBSLEEP
016908,000118: 37,2113 32116 GOESTIMS CA ESTICADR
016909,000119: 37,2114 05130 TC JOBWAKE
016910,000120: 37,2115 05263 TC TASKOVER
016911,000121: 37,2116 76500 ESTICADR CADR ESTIMS
016912,000122: 37,2117 34746 TORQUE CA ZERO
016913,000123:
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Page 387 |
016915,000125: 37,2120 55047 TS DSPTEM2
016916,000126: 37,2121 31504 CA DRIFTI
016917,000127: 37,2122 55050 TS DSPTEM2 +1
016918,000128: 37,2123 51416 INDEX POSITON
016919,000129: 37,2124 55420 TS SOUTHDR -1
016920,000130: 37,2125 02457 TC SHOW
016921,000131:
016922,000132: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
016923,000133: 37,2127 02130 TC +1
016924,000134: 37,2130 02447 TC EARTHR*
016925,000135: 37,2131 34352 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
016926,000136: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTED TIME INTERVAL
016927,000137: 37,2133 32474 CA DEC58
016928,000138: 37,2134 55412 TS LENGTHOT
016929,000139: 37,2135 34744 CA ONE
016930,000140: 37,2136 55537 TS RESULTCT
016931,000141: 37,2137 34746 CA ZERO
016932,000142: 37,2140 51415 INDEX PIPINDEX
016933,000143: 37,2141 54037 TS PIPAX
016934,000144: 37,2142 55472 TS DATAPL
016935,000145: 37,2143 02332 TC CHECKG
016936,000146: 37,2144 00004 INHINT
016937,000147: 37,2145 34743 CAF TWO
016938,000148: 37,2146 05175 TC TWIDDLE
016939,000149: 37,2147 E5,1642 EBANK= XSM
016940,000150: 37,2147 02151 ADRES PIPATASK
016941,000151: 37,2150 05146 TC ENDOFJOB
016942,000152:
016943,000153:
016944,000154: 37,2151 00006 PIPATASK EXTEND
016945,000155: 37,2152 27412 DIM LENGTHOT
016946,000156: 37,2153 31412 CA LENGTHOT
016947,000157: 37,2154 00006 EXTEND
016948,000158: 37,2155 62161 BZMF STARTPIP
016949,000159: 37,2156 34733 CAF BIT10
016950,000160: 37,2157 05175 TC TWIDDLE
016951,000161: 37,2160 E5,1642 EBANK= XSM
016952,000162: 37,2160 02151 ADRES PIPATASK
016953,000163: 37,2161 34727 STARTPIP CAF PRIO20
016954,000164: 37,2162 05076 TC FINDVAC
016955,000165: 37,2163 E5,1642 EBANK= XSM
016956,000166: 37,2163 02166 76065 2CADR PIPJOBB
016957,000167: 37,2165 05263 TC TASKOVER
016958,000168:
016959,000169: 37,2166 51414 PIPJOBB INDEX NDXCTR
016960,000170: 37,2167 02170 TC +1
016961,000171: 37,2170 02447 TC EARTHR*
016962,000172: 37,2171 31412 CA LENGTHOT
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Page 388 |
016964,000174: 37,2172 00006 EXTEND
016965,000175: 37,2173 62175 BZMF +2
016966,000176: 37,2174 05146 TC ENDOFJOB
016967,000177:
016968,000178: 37,2175 34747 CA FIVE
016969,000179: 37,2176 55537 TS RESULTCT
016970,000180: 37,2177 02332 TC CHECKG
016971,000181: 37,2200 11473 CCS DATAPL +1
016972,000182: 37,2201 02205 TC +4
016973,000183: 37,2202 05701 TC CCSHOLE
016974,000184: 37,2203 41476 CS DATAPL +4
016975,000185: 37,2204 55476 TS DATAPL +4
016976,000186: 37,2205 00006 EXTEND
016977,000187: 37,2206 41473 DCS DATAPL
016978,000188: 37,2207 21477 DAS DATAPL +4
016979,000189:
016980,000190: 37,2210 06060 TC INTPRET
016981,000191: 37,2211 45345 DLOAD DSU
016982,000192: 37,2212 02501 DATAPL +6
016983,000193: 37,2213 02475 DATAPL +2
016984,000194: 37,2214 45044 BPL CALL
016985,000195: 37,2215 76217 AINGOTN
016986,000196: 37,2216 76275 OVERFFIX
016987,000197: 37,2217 56325 AINGOTN PDDL DDV
016988,000198: 37,2220 02477 DATAPL +4
016989,000199: 37,2221 47075 DMPR RTB
016990,000200: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
016991,000201: 37,2223 21622 SGNAGREE
016992,000202: 37,2224 01050 STORE DSPTEM2
016993,000203: 37,2225 77776 EXIT
016994,000204: 37,2226 11414 CCS NDXCTR
016995,000205: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
016996,000206: 37,2230 02457 TC SHOW
016997,000207: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
016998,000208: 37,2232 55412 TS LENGTHOT
016999,000209: 37,2233 51416 INDEX POSITON
017000,000210: 37,2234 41417 CS SOUTHDR -2
017001,000211: 37,2235 55442 TS DRIFTT
017002,000212: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
017003,000213: 37,2237 12245 TCF PON4 # Z UP IN POS 4
017004,000214: 37,2240 44740 PON2 CS BIT5 # X UP
017005,000215: 37,2241 27565 ADS ERCOMP +2
017006,000216: 37,2242 34740 CA BIT5
017007,000217: 37,2243 27567 ADS ERCOMP +4
017008,000218: 37,2244 12251 TCF PON
017009,000219: 37,2245 44740 PON4 CS BIT5
017010,000220: 37,2246 27565 ADS ERCOMP +2
017011,000221: 37,2247 34740 CA BIT5
017012,000222: 37,2250 27563 ADS ERCOMP
017013,000223: 37,2251 02447 PON TC EARTHR*
017014,000224:
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Page 389 |
017016,000226: 37,2252 34746 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
017017,000227: 37,2253 55404 TS ERVECTOR
017018,000228: 37,2254 55405 TS ERVECTOR +1
017019,000229: 37,2255 34724 GUESS1 CAF POSMAX
017020,000230: 37,2256 55440 TS TORQNDX
017021,000231: 37,2257 55441 TS TORQNDX +1
017022,000232: 37,2260 30032 CA CDUX
017023,000233: 37,2261 55413 TS LOSVEC
017024,000234: 37,2262 02500 TC ESTIMS
017025,000235: 37,2263 31502 VALMIS CA DRIFTO
017026,000236: 37,2264 55050 TS DSPTEM2 +1
017027,000237: 37,2265 34746 CA ZERO
017028,000238: 37,2266 55047 TS DSPTEM2
017029,000239: 37,2267 02457 TC SHOW
017030,000240:
017031,000241: 37,2270 05520 ENDTEST1 TC DOWNFLAG
017032,000242: 37,2271 00007 ADRES IMUSE
017033,000243: 37,2272 44746 CS ZERO
017034,000244: 37,2273 05316 TC NEWMODEA
017035,000245: 37,2274 05474 TC ENDEXT
017036,000246:
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Page 390 |
017038,000248: 37,2275 43215 OVERFFIX DAD DAD
017039,000249: 37,2276 06513 DPPOSMAX
017040,000250: 37,2277 37064 ONEDPP
017041,000251: 37,2300 77616 RVQ
017042,000252:
017043,000253: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
017044,000254: 37,2302 23571 QXCH ZERONDX
017045,000255: 37,2303 34746 CA ZERO
017046,000256: 37,2304 54321 TS THETAD
017047,000257: 37,2305 54322 TS THETAD +1
017048,000258: 37,2306 54323 TS THETAD +2
017049,000259: 37,2307 04607 TC BANKCALL
017050,000260: 37,2310 16765 CADR IMUCOARS
017051,000261: 37,2311 04607 ALIGNCOA TC BANKCALL
017052,000262: 37,2312 17735 CADR IMUSTALL
017053,000263: 37,2313 03047 TC SOMERR2
017054,000264: 37,2314 01571 TC ZERONDX
017055,000265:
017056,000266:
017057,000267: 37,2315 00006 IMUSLLLG EXTEND
017058,000268: 37,2316 23571 QXCH ZERONDX
017059,000269: 37,2317 02311 TC ALIGNCOA
017060,000270:
017061,000271: 37,2320 00006 FINIMUDD EXTEND
017062,000272: 37,2321 23571 QXCH ZERONDX
017063,000273: 37,2322 04607 TC BANKCALL
017064,000274: 37,2323 17175 CADR IMUFINE
017065,000275: 37,2324 02311 TC ALIGNCOA
017066,000276:
017067,000277: 37,2325 00006 IMUZERR EXTEND
017068,000278: 37,2326 23571 QXCH ZERONDX
017069,000279: 37,2327 04607 TC BANKCALL
017070,000280: 37,2330 16701 CADR IMUZERO
017071,000281: 37,2331 02311 TC ALIGNCOA
017072,000282:
017073,000283:
017074,000284: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
017075,000285: 37,2333 23417 QXCH QPLACE
017076,000286: 37,2334 02342 TC +6
017077,000287: 37,2335 00003 CHECKG1 RELINT
017078,000288: 37,2336 30067 CA NEWJOB
017079,000289: 37,2337 00006 EXTEND
017080,000290: 37,2340 62346 BZMF +6
017081,000291: 37,2341 05113 TC CHANG1
017082,000292: 37,2342 00004 INHINT
017083,000293: 37,2343 51415 INDEX PIPINDEX
017084,000294: 37,2344 40037 CS PIPAX
017085,000295: 37,2345 55571 TS ZERONDX
017086,000296: 37,2346 00004 INHINT
017087,000297:
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Page 391 |
017089,000299: 37,2347 51415 INDEX PIPINDEX
017090,000300: 37,2350 30037 CA PIPAX
017091,000301: 37,2351 61571 AD ZERONDX
017092,000302: 37,2352 00006 EXTEND
017093,000303: 37,2353 12335 BZF CHECKG1
017094,000304: 37,2354 51415 INDEX PIPINDEX
017095,000305: 37,2355 30037 CA PIPAX
017096,000306: 37,2356 51537 INDEX RESULTCT
017097,000307: 37,2357 55472 TS DATAPL
017098,000308: 37,2360 04102 TC FINETIME
017099,000309: 37,2361 51537 INDEX RESULTCT
017100,000310: 37,2362 55473 TS DATAPL +1
017101,000311: 37,2363 51537 INDEX RESULTCT
017102,000312: 37,2364 23474 LXCH DATAPL +2
017103,000313: 37,2365 00003 RELINT
017104,000314: 37,2366 01417 ENDCHKG TC QPLACE
017105,000315:
017106,000316:
017107,000317: 37,2367 54001 ZEROING TS L
017108,000318: 37,2370 12372 TCF +2
017109,000319: 37,2371 55571 ZEROING1 TS ZERONDX
017110,000320: 37,2372 34746 CAF ZERO
017111,000321: 37,2373 50001 INDEX L
017112,000322: 37,2374 54000 TS 0
017113,000323: 37,2375 24001 INCR L
017114,000324: 37,2376 11571 CCS ZERONDX
017115,000325: 37,2377 12371 TCF ZEROING1
017116,000326: 37,2400 00002 TC Q
017117,000327:
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Page 392 |
017119,000329: 37,2401 65345 ERTHRVSE DLOAD PDDL
017120,000330: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
017121,000331: 37,2403 02403 LATITUDE
017122,000332: 37,2404 57546 COS DCOMP
017123,000333: 37,2405 73525 PDDL SIN
017124,000334: 37,2406 02403 LATITUDE
017125,000335: 37,2407 74266 VDEF VXSC
017126,000336: 37,2410 36001 OMEG/MS
017127,000337: 37,2411 02405 STORE ERVECTOR
017128,000338: 37,2412 77634 RTB
017129,000339: 37,2413 21603 LOADTIME
017130,000340: 37,2414 26433 STOVL TMARK
017131,000341: 37,2415 37057 SCHZEROS
017132,000342: 37,2416 02564 STORE ERCOMP
017133,000343: 37,2417 77616 RVQ
017134,000344:
017135,000345: 37,2420 47020 EARTHR ITA RTB
017136,000346: 37,2421 00051 S2
017137,000347: 37,2422 21603 LOADTIME
017138,000348: 37,2423 02431 STORE TEMPTIME
017139,000349: 37,2424 51025 DSU BPL
017140,000350: 37,2425 02433 TMARK
017141,000351: 37,2426 76431 ERTHR
017142,000352: 37,2427 77624 CALL
017143,000353: 37,2430 76275 OVERFFIX
017144,000354: 37,2431 74261 ERTHR SL VXSC
017145,000355: 37,2432 20212 9D
017146,000356: 37,2433 02405 ERVECTOR
017147,000357: 37,2434 53321 MXV VAD
017148,000358: 37,2435 02643 XSM
017149,000359: 37,2436 02564 ERCOMP
017150,000360: 37,2437 16564 STODL ERCOMP
017151,000361: 37,2440 02431 TEMPTIME
017152,000362: 37,2441 02433 STORE TMARK
017153,000363: 37,2442 47170 AXT,1 RTB
017154,000364: 37,2443 02563 ECADR ERCOMP
017155,000365: 37,2444 21715 PULSEIMU
017156,000366: 37,2445 77650 GOTO
017157,000367: 37,2446 00051 S2
017158,000368:
017159,000369: 37,2447 00006 EARTHR* EXTEND
017160,000370: 37,2450 23420 QXCH QPLACES
017161,000371: 37,2451 06060 TC INTPRET
017162,000372: 37,2452 77624 CALL
017163,000373: 37,2453 76420 EARTHR
017164,000374: 37,2454 77776 EXIT
017165,000375: 37,2455 02315 TC IMUSLLLG
017166,000376: 37,2456 01420 TC QPLACES
017167,000377:
017168,000378: 37,2457 00006 SHOW EXTEND
017169,000379:
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Page 393 |
017171,000381: 37,2460 23417 QXCH QPLACE
017172,000382: 37,2461 31416 SHOW1 CA POSITON
017173,000383: 37,2462 55051 TS DSPTEM2 +2
017174,000384: 37,2463 32472 CA VB06N98
017175,000385: 37,2464 04607 TC BANKCALL
017176,000386: 37,2465 20471 CADR GOFLASH
017177,000387: 37,2466 02270 TC ENDTEST1 # V 34
017178,000388: 37,2467 01417 TC QPLACE # V33
017179,000389: 37,2470 12461 TCF SHOW1
017180,000390:
017181,000391: 37,2471 07626 3990DEC DEC 3990 B-14
017182,000392: 37,2472 01542 VB06N98 VN 0698
017183,000393: 37,2473 01451 VN0641 VN 0641
017184,000394: 37,2474 4352 DEC17 = ND1
017185,000395: 37,2474 00072 DEC58 DEC 58 B-14
017186,000396: 37,2475 02737 OGCPL ECADR OGC
017187,000397: 37,2476 4770 1SECX = 1SEC
017188,000398: 37,2476 01664 XNBADR GENADR XNB
017189,000399: 37,2477 01642 XSMADR GENADR XSM
017190,000400: 4102 BLOCK 2
017191,000401: 4102 COUNT* $$/P07
017192,000402: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
017193,000403: 4103 00006 EXTEND
017194,000404: 4104 00004 READ LOSCALAR
017195,000405: 4105 54001 TS L
017196,000406: 4106 00006 EXTEND
017197,000407: 4107 06004 RXOR LOSCALAR
017198,000408: 4110 00006 EXTEND
017199,000409: 4111 14115 BZF +4
017200,000410: 4112 00006 EXTEND
017201,000411: 4113 00004 READ LOSCALAR
017202,000412: 4114 54001 TS L
017203,000413: 4115 44724 +4 CS POSMAX
017204,000414: 4116 60001 AD L
017205,000415: 4117 00006 EXTEND
017206,000416: 4120 14103 BZF FINETIME +1
017207,000417: 4121 00006 EXTEND
017208,000418: 4122 00003 READ HISCALAR
017209,000419: 4123 00002 TC Q
017210,000420:
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc