Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, 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 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
015667,000002: ## Copyright: Public domain.
015668,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
015669,000004: ## Purpose: A section of Luminary revision 116.
015670,000005: ## It is part of the source code for the Lunar Module's (LM)
015671,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
015672,000007: ## This file is intended to be a faithful transcription, except
015673,000008: ## that the code format has been changed to conform to the
015674,000009: ## requirements of the yaYUL assembler rather than the
015675,000010: ## original YUL assembler.
015676,000011: ## Reference: pp. 374-382
015677,000012: ## Assembler: yaYUL
015678,000013: ## Contact: Ron Burkey <info@sandroid.org>.
015679,000014: ## Website: www.ibiblio.org/apollo/index.html
015680,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
015681,000016: ## 2017-03-07 RSB Transcribed, and then proofed comment-text using
015682,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
015683,000018: ## (Admittedly, the former is more for detecting errors
015684,000019: ## in Luminary 99 than the other way around.)
015685,000020:
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Page 374 |
015687,000022: # NAME - IMU PERFORMANCE TESTS 2
015688,000023:
015689,000024: # DATE - MARCH 20, 1967
015690,000025:
015691,000026: # BY - SYSTEM TEST GROUP 864-6900 EXT. 1274
015692,000027:
015693,000028: # MODNO.- ZERO
015694,000029:
015695,000030: # FUNCTIONAL DESCRIPTION
015696,000031:
015697,000032: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
015698,000033: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
015699,000034: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.THEORETICAL REF.E-1973
015700,000035:
015701,000036: 33,2045 BANK 33
015702,000037: 37,2000 SETLOC IMU2
015703,000038: 37,2000 BANK
015704,000039: 37,2002 E5,1416 EBANK= POSITON
015705,000040: 37,2002 COUNT* $$/P07
015706,000041:
015707,000042: 37,2002 05311 REDO TC NEWMODEX
015708,000043: 37,2003 00007 MM 07 B-14
015709,000044:
015710,000045: 37,2004 02325 GEOIMUTT TC IMUZERR
015711,000046: 37,2005 34755 IMUBACK CA ZERO
015712,000047: 37,2006 55414 TS NDXCTR
015713,000048: 37,2007 55440 TS TORQNDX
015714,000049: 37,2010 55441 TS TORQNDX +1
015715,000050: 37,2011 55576 TS OVFLOWCK
015716,000051: 37,2012 34361 NBPOSPL CA DEC17
015717,000052: 37,2013 55571 TS ZERONDX
015718,000053: 37,2014 32476 CA XNBADR
015719,000054: 37,2015 02367 TC ZEROING
015720,000055: 37,2016 34736 CA HALF
015721,000056: 37,2017 55664 TS XNB
015722,000057: 37,2020 06042 GUESS TC INTPRET
015723,000058: 37,2021 62545 LATAZCHK DLOAD SL2
015724,000059: 37,2022 02403 LATITUDE
015725,000060: 37,2023 15046 STODL DSPTEM1 +1
015726,000061: 37,2024 02401 AZIMUTH
015727,000062: 37,2025 77434 RTB EXIT
015728,000063: 37,2026 21615 1STO2S
015729,000064: 37,2027 56154 XCH MPAC
015730,000065: 37,2030 55044 TS DSPTEM1
015731,000066: 37,2031 32473 CAF VN0641
015732,000067: 37,2032 04616 TC BANKCALL
015733,000068: 37,2033 20477 CADR GOFLASH
015734,000069: 37,2034 02270 TC ENDTEST1
015735,000070: 37,2035 02037 TC +2
015736,000071: 37,2036 02031 TC -5
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Page 375 |
015738,000073: 37,2037 06042 TC INTPRET
015739,000074: 37,2040 47135 SLOAD RTB
015740,000075: 37,2041 01045 DSPTEM1
015741,000076: 37,2042 21577 CDULOGIC
015742,000077: 37,2043 02401 STORE AZIMUTH
015743,000078: 37,2044 60535 SLOAD SR2
015744,000079: 37,2045 01046 DSPTEM1 +1
015745,000080: 37,2046 02403 STORE LATITUDE
015746,000081: 37,2047 57546 COS DCOMP
015747,000082: 37,2050 77752 SL1
015748,000083: 37,2051 16437 STODL WANGI
015749,000084: 37,2052 02403 LATITUDE
015750,000085: 37,2053 72556 SIN SL1
015751,000086: 37,2054 16435 STODL WANGO
015752,000087: 37,2055 02401 AZIMUTH
015753,000088: 37,2056 73406 PUSH SIN
015754,000089: 37,2057 02675 STORE YNB +2
015755,000090: 37,2060 16705 STODL ZNB +4
015756,000091: 37,2061 77746 COS
015757,000092: 37,2062 02677 STORE YNB +4
015758,000093: 37,2063 77676 DCOMP
015759,000094: 37,2064 36703 POSGMBL STCALL ZNB +2
015760,000095: 37,2065 47355 CALCGA
015761,000096: 37,2066 77776 EXIT
015762,000097: 37,2067 04616 TC BANKCALL
015763,000098: 37,2070 16772 CADR IMUCOARS
015764,000099: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
015765,000100: 37,2072 70077 MASK FLAGWRD3
015766,000101: 37,2073 00006 EXTEND
015767,000102: 37,2074 12076 BZF +2
015768,000103: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
015769,000104: 37,2076 05516 TC DOWNFLAG
015770,000105: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
015771,000106: 37,2100 02315 TC IMUSLLLG
015772,000107: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
015773,000108: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
015774,000109: 37,2103 02320 TC FINIMUDD
015775,000110: 37,2104 00006 EXTEND
015776,000111: 37,2105 31575 DCA PERFDLAY
015777,000112: 37,2106 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
015778,000113: 37,2107 E5,1416 EBANK= POSITON
015779,000114: 37,2107 02113 76065 2CADR GOESTIMS
015780,000115:
015781,000116: 37,2111 32116 CA ESTICADR
015782,000117: 37,2112 05133 TC JOBSLEEP
015783,000118: 37,2113 32116 GOESTIMS CA ESTICADR
015784,000119: 37,2114 05137 TC JOBWAKE
015785,000120: 37,2115 05261 TC TASKOVER
015786,000121: 37,2116 76500 ESTICADR CADR ESTIMS
015787,000122: 37,2117 34755 TORQUE CA ZERO
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Page 376 |
015789,000124: 37,2120 55047 TS DSPTEM2
015790,000125: 37,2121 31504 CA DRIFTI
015791,000126: 37,2122 55050 TS DSPTEM2 +1
015792,000127: 37,2123 51416 INDEX POSITON
015793,000128: 37,2124 55420 TS SOUTHDR -1
015794,000129: 37,2125 02457 TC SHOW
015795,000130:
015796,000131: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
015797,000132: 37,2127 02130 TC +1
015798,000133: 37,2130 02447 TC EARTHR*
015799,000134: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
015800,000135: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTED TIME INTERVAL
015801,000136: 37,2133 32474 CA DEC58
015802,000137: 37,2134 55412 TS LENGTHOT
015803,000138: 37,2135 34753 CA ONE
015804,000139: 37,2136 55537 TS RESULTCT
015805,000140: 37,2137 34755 CA ZERO
015806,000141: 37,2140 51415 INDEX PIPINDEX
015807,000142: 37,2141 54037 TS PIPAX
015808,000143: 37,2142 55472 TS DATAPL
015809,000144: 37,2143 02332 TC CHECKG
015810,000145: 37,2144 00004 INHINT
015811,000146: 37,2145 34752 CAF TWO
015812,000147: 37,2146 05173 TC TWIDDLE
015813,000148: 37,2147 E5,1642 EBANK= XSM
015814,000149: 37,2147 02151 ADRES PIPATASK
015815,000150: 37,2150 05155 TC ENDOFJOB
015816,000151:
015817,000152: 37,2151 00006 PIPATASK EXTEND
015818,000153: 37,2152 27412 DIM LENGTHOT
015819,000154: 37,2153 31412 CA LENGTHOT
015820,000155: 37,2154 00006 EXTEND
015821,000156: 37,2155 62161 BZMF STARTPIP
015822,000157: 37,2156 34742 CAF BIT10
015823,000158: 37,2157 05173 TC TWIDDLE
015824,000159: 37,2160 E5,1642 EBANK= XSM
015825,000160: 37,2160 02151 ADRES PIPATASK
015826,000161: 37,2161 34736 STARTPIP CAF PRIO20
015827,000162: 37,2162 05105 TC FINDVAC
015828,000163: 37,2163 E5,1642 EBANK= XSM
015829,000164: 37,2163 02166 76065 2CADR PIPJOBB
015830,000165:
015831,000166: 37,2165 05261 TC TASKOVER
015832,000167:
015833,000168: 37,2166 51414 PIPJOBB INDEX NDXCTR
015834,000169: 37,2167 02170 TC +1
015835,000170: 37,2170 02447 TC EARTHR*
015836,000171: 37,2171 31412 CA LENGTHOT
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Page 377 |
015838,000173: 37,2172 00006 EXTEND
015839,000174: 37,2173 62175 BZMF +2
015840,000175: 37,2174 05155 TC ENDOFJOB
015841,000176:
015842,000177: 37,2175 34756 CA FIVE
015843,000178: 37,2176 55537 TS RESULTCT
015844,000179: 37,2177 02332 TC CHECKG
015845,000180: 37,2200 11473 CCS DATAPL +1
015846,000181: 37,2201 02205 TC +4
015847,000182: 37,2202 05675 TC CCSHOLE
015848,000183: 37,2203 41476 CS DATAPL +4
015849,000184: 37,2204 55476 TS DATAPL +4
015850,000185: 37,2205 00006 EXTEND
015851,000186: 37,2206 41473 DCS DATAPL
015852,000187: 37,2207 21477 DAS DATAPL +4
015853,000188:
015854,000189: 37,2210 06042 TC INTPRET
015855,000190: 37,2211 45345 DLOAD DSU
015856,000191: 37,2212 02501 DATAPL +6
015857,000192: 37,2213 02475 DATAPL +2
015858,000193: 37,2214 45044 BPL CALL
015859,000194: 37,2215 76217 AINGOTN
015860,000195: 37,2216 76275 OVERFFIX
015861,000196: 37,2217 56325 AINGOTN PDDL DDV
015862,000197: 37,2220 02477 DATAPL +4
015863,000198: 37,2221 47075 DMPR RTB
015864,000199: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
015865,000200: 37,2223 21613 SGNAGREE
015866,000201: 37,2224 01050 STORE DSPTEM2
015867,000202: 37,2225 77776 EXIT
015868,000203: 37,2226 11414 CCS NDXCTR
015869,000204: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
015870,000205: 37,2230 02457 TC SHOW
015871,000206: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
015872,000207: 37,2232 55412 TS LENGTHOT
015873,000208: 37,2233 51416 INDEX POSITON
015874,000209: 37,2234 41417 CS SOUTHDR -2
015875,000210: 37,2235 55442 TS DRIFTT
015876,000211: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
015877,000212: 37,2237 12245 TCF PON4 # Z UP IN POS 4
015878,000213: 37,2240 44747 PON2 CS BIT5 # X UP
015879,000214: 37,2241 27565 ADS ERCOMP +2
015880,000215: 37,2242 34747 CA BIT5
015881,000216: 37,2243 27567 ADS ERCOMP +4
015882,000217: 37,2244 12251 TCF PON
015883,000218: 37,2245 44747 PON4 CS BIT5
015884,000219: 37,2246 27565 ADS ERCOMP +2
015885,000220: 37,2247 34747 CA BIT5
015886,000221: 37,2250 27563 ADS ERCOMP
015887,000222: 37,2251 02447 PON TC EARTHR*
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Page 378 |
015889,000224: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
015890,000225: 37,2253 55404 TS ERVECTOR
015891,000226: 37,2254 55405 TS ERVECTOR +1
015892,000227: 37,2255 34733 GUESS1 CAF POSMAX
015893,000228: 37,2256 55440 TS TORQNDX
015894,000229: 37,2257 55441 TS TORQNDX +1
015895,000230: 37,2260 30032 CA CDUX
015896,000231: 37,2261 55413 TS LOSVEC
015897,000232: 37,2262 02500 TC ESTIMS
015898,000233: 37,2263 31502 VALMIS CA DRIFTO
015899,000234: 37,2264 55050 TS DSPTEM2 +1
015900,000235: 37,2265 34755 CA ZERO
015901,000236: 37,2266 55047 TS DSPTEM2
015902,000237: 37,2267 02457 TC SHOW
015903,000238:
015904,000239: 37,2270 05516 ENDTEST1 TC DOWNFLAG
015905,000240: 37,2271 00007 ADRES IMUSE
015906,000241: 37,2272 44755 CS ZERO
015907,000242: 37,2273 05314 TC NEWMODEA
015908,000243: 37,2274 05472 TC ENDEXT
015909,000244:
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Page 379 |
015911,000246: 37,2275 43215 OVERFFIX DAD DAD
015912,000247: 37,2276 06532 DPPOSMAX
015913,000248: 37,2277 37064 ONEDPP
015914,000249: 37,2300 77616 RVQ
015915,000250:
015916,000251: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
015917,000252: 37,2302 23571 QXCH ZERONDX
015918,000253: 37,2303 34755 CA ZERO
015919,000254: 37,2304 54321 TS THETAD
015920,000255: 37,2305 54322 TS THETAD +1
015921,000256: 37,2306 54323 TS THETAD +2
015922,000257: 37,2307 04616 TC BANKCALL
015923,000258: 37,2310 16772 CADR IMUCOARS
015924,000259: 37,2311 04616 ALIGNCOA TC BANKCALL
015925,000260: 37,2312 17710 CADR IMUSTALL
015926,000261: 37,2313 03047 TC SOMERR2
015927,000262: 37,2314 01571 TC ZERONDX
015928,000263:
015929,000264: 37,2315 00006 IMUSLLLG EXTEND
015930,000265: 37,2316 23571 QXCH ZERONDX
015931,000266: 37,2317 02311 TC ALIGNCOA
015932,000267:
015933,000268: 37,2320 00006 FINIMUDD EXTEND
015934,000269: 37,2321 23571 QXCH ZERONDX
015935,000270: 37,2322 04616 TC BANKCALL
015936,000271: 37,2323 17202 CADR IMUFINE
015937,000272: 37,2324 02311 TC ALIGNCOA
015938,000273:
015939,000274: 37,2325 00006 IMUZERR EXTEND
015940,000275: 37,2326 23571 QXCH ZERONDX
015941,000276: 37,2327 04616 TC BANKCALL
015942,000277: 37,2330 16706 CADR IMUZERO
015943,000278: 37,2331 02311 TC ALIGNCOA
015944,000279:
015945,000280: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
015946,000281: 37,2333 23417 QXCH QPLACE
015947,000282: 37,2334 02342 TC +6
015948,000283: 37,2335 00003 CHECKG1 RELINT
015949,000284: 37,2336 30067 CA NEWJOB
015950,000285: 37,2337 00006 EXTEND
015951,000286: 37,2340 62346 BZMF +6
015952,000287: 37,2341 05122 TC CHANG1
015953,000288: 37,2342 00004 INHINT
015954,000289: 37,2343 51415 INDEX PIPINDEX
015955,000290: 37,2344 40037 CS PIPAX
015956,000291: 37,2345 55571 TS ZERONDX
015957,000292: 37,2346 00004 INHINT
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Page 380 |
015959,000294: 37,2347 51415 INDEX PIPINDEX
015960,000295: 37,2350 30037 CA PIPAX
015961,000296: 37,2351 61571 AD ZERONDX
015962,000297: 37,2352 00006 EXTEND
015963,000298: 37,2353 12335 BZF CHECKG1
015964,000299: 37,2354 51415 INDEX PIPINDEX
015965,000300: 37,2355 30037 CA PIPAX
015966,000301: 37,2356 51537 INDEX RESULTCT
015967,000302: 37,2357 55472 TS DATAPL
015968,000303: 37,2360 04102 TC FINETIME
015969,000304: 37,2361 51537 INDEX RESULTCT
015970,000305: 37,2362 55473 TS DATAPL +1
015971,000306: 37,2363 51537 INDEX RESULTCT
015972,000307: 37,2364 23474 LXCH DATAPL +2
015973,000308: 37,2365 00003 RELINT
015974,000309: 37,2366 01417 ENDCHKG TC QPLACE
015975,000310:
015976,000311: 37,2367 54001 ZEROING TS L
015977,000312: 37,2370 12372 TCF +2
015978,000313: 37,2371 55571 ZEROING1 TS ZERONDX
015979,000314: 37,2372 34755 CAF ZERO
015980,000315: 37,2373 50001 INDEX L
015981,000316: 37,2374 54000 TS 0
015982,000317: 37,2375 24001 INCR L
015983,000318: 37,2376 11571 CCS ZERONDX
015984,000319: 37,2377 12371 TCF ZEROING1
015985,000320: 37,2400 00002 TC Q
015986,000321:
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Page 381 |
015988,000323: 37,2401 65345 ERTHRVSE DLOAD PDDL
015989,000324: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
015990,000325: 37,2403 02403 LATITUDE
015991,000326: 37,2404 57546 COS DCOMP
015992,000327: 37,2405 73525 PDDL SIN
015993,000328: 37,2406 02403 LATITUDE
015994,000329: 37,2407 74266 VDEF VXSC
015995,000330: 37,2410 36001 OMEG/MS
015996,000331: 37,2411 02405 STORE ERVECTOR
015997,000332: 37,2412 77634 RTB
015998,000333: 37,2413 21574 LOADTIME
015999,000334: 37,2414 26433 STOVL TMARK
016000,000335: 37,2415 37057 SCHZEROS
016001,000336: 37,2416 02564 STORE ERCOMP
016002,000337: 37,2417 77616 RVQ
016003,000338:
016004,000339: 37,2420 47020 EARTHR ITA RTB
016005,000340: 37,2421 00051 S2
016006,000341: 37,2422 21574 LOADTIME
016007,000342: 37,2423 02431 STORE TEMPTIME
016008,000343: 37,2424 51025 DSU BPL
016009,000344: 37,2425 02433 TMARK
016010,000345: 37,2426 76431 ERTHR
016011,000346: 37,2427 77624 CALL
016012,000347: 37,2430 76275 OVERFFIX
016013,000348: 37,2431 74261 ERTHR SL VXSC
016014,000349: 37,2432 20212 9D
016015,000350: 37,2433 02405 ERVECTOR
016016,000351: 37,2434 53321 MXV VAD
016017,000352: 37,2435 02643 XSM
016018,000353: 37,2436 02564 ERCOMP
016019,000354: 37,2437 16564 STODL ERCOMP
016020,000355: 37,2440 02431 TEMPTIME
016021,000356: 37,2441 02433 STORE TMARK
016022,000357: 37,2442 47170 AXT,1 RTB
016023,000358: 37,2443 02563 ECADR ERCOMP
016024,000359: 37,2444 21706 PULSEIMU
016025,000360: 37,2445 77650 GOTO
016026,000361: 37,2446 00051 S2
016027,000362:
016028,000363: 37,2447 00006 EARTHR* EXTEND
016029,000364: 37,2450 23420 QXCH QPLACES
016030,000365: 37,2451 06042 TC INTPRET
016031,000366: 37,2452 77624 CALL
016032,000367: 37,2453 76420 EARTHR
016033,000368: 37,2454 77776 EXIT
016034,000369: 37,2455 02315 TC IMUSLLLG
016035,000370: 37,2456 01420 TC QPLACES
016036,000371:
016037,000372: 37,2457 00006 SHOW EXTEND
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Page 382 |
016039,000374: 37,2460 23417 QXCH QPLACE
016040,000375: 37,2461 31416 SHOW1 CA POSITON
016041,000376: 37,2462 55051 TS DSPTEM2 +2
016042,000377: 37,2463 32472 CA VB06N98
016043,000378: 37,2464 04616 TC BANKCALL
016044,000379: 37,2465 20477 CADR GOFLASH
016045,000380: 37,2466 02270 TC ENDTEST1 # V 34
016046,000381: 37,2467 01417 TC QPLACE # V33
016047,000382: 37,2470 12461 TCF SHOW1
016048,000383:
016049,000384: 37,2471 07626 3990DEC DEC 3990 B-14
016050,000385: 37,2472 01542 VB06N98 VN 0698
016051,000386: 37,2473 01451 VN0641 VN 0641
016052,000387: 37,2474 4361 DEC17 = ND1
016053,000388: 37,2474 00072 DEC58 DEC 58 B-14
016054,000389: 37,2475 02737 OGCPL ECADR OGC
016055,000390: 37,2476 4777 1SECX = 1SEC
016056,000391: 37,2476 01664 XNBADR GENADR XNB
016057,000392: 37,2477 01642 XSMADR GENADR XSM
016058,000393: 4102 BLOCK 2
016059,000394: 4102 COUNT* $$/P07
016060,000395: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
016061,000396: 4103 00006 EXTEND
016062,000397: 4104 00004 READ LOSCALAR
016063,000398: 4105 54001 TS L
016064,000399: 4106 00006 EXTEND
016065,000400: 4107 06004 RXOR LOSCALAR
016066,000401: 4110 00006 EXTEND
016067,000402: 4111 14115 BZF +4
016068,000403: 4112 00006 EXTEND
016069,000404: 4113 00004 READ LOSCALAR
016070,000405: 4114 54001 TS L
016071,000406: 4115 44733 +4 CS POSMAX
016072,000407: 4116 60001 AD L
016073,000408: 4117 00006 EXTEND
016074,000409: 4120 14103 BZF FINETIME +1
016075,000410: 4121 00006 EXTEND
016076,000411: 4122 00003 READ HISCALAR
016077,000412: 4123 00002 TC Q
016078,000413:
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc