Source Code
|
These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
|
016668,000002: ## Copyright: Public domain.
016669,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
016670,000004: ## Purpose: A section of LUM69 revision 2.
016671,000005: ## It is part of the reconstructed source code for the flown
016672,000006: ## version of the flight software for the Lunar Module's (LM)
016673,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
016674,000008: ## been recreated from a copy of Luminary revsion 069, using
016675,000009: ## changes present in Luminary 099 which were described in
016676,000010: ## Luminary memos 75 and 78. The code has been adapted such
016677,000011: ## that the resulting bugger words exactly match those specified
016678,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
016679,000013: ## relatively high confidence that the reconstruction is correct.
016680,000014: ## Reference: pp. 386-394
016681,000015: ## Assembler: yaYUL
016682,000016: ## Contact: Ron Burkey <info@sandroid.org>.
016683,000017: ## Website: www.ibiblio.org/apollo/index.html
016684,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
016685,000019:
|
|
Page 386
|
016687,000021: # NAME- IMU PERFORMANCE TESTS 2
016688,000022:
016689,000023: # DATE- MARCH 20, 1967
016690,000024:
016691,000025: # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
016692,000026:
016693,000027: # MODNO.- ZERO
016694,000028:
016695,000029: # FUNCTIONAL DESCRIPTION
016696,000030:
016697,000031: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
016698,000032: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
016699,000033: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.THEORETICAL REF.E-1973
016700,000034:
016701,000035: 33,2045 BANK 33
016702,000036: 37,2000 SETLOC IMU2
016703,000037: 37,2000 BANK
016704,000038: 37,2002 E5,1416 EBANK= POSITON
016705,000039: 37,2002 COUNT* $$/P07
016706,000040:
016707,000041: 37,2002 05311 REDO TC NEWMODEX
016708,000042: 37,2003 00007 MM 07 B-14
016709,000043:
016710,000044: 37,2004 02325 GEOIMUTT TC IMUZERR
016711,000045: 37,2005 34755 IMUBACK CA ZERO
016712,000046: 37,2006 55414 TS NDXCTR
016713,000047: 37,2007 55440 TS TORQNDX
016714,000048: 37,2010 55441 TS TORQNDX +1
016715,000049: 37,2011 55576 TS OVFLOWCK
016716,000050: 37,2012 34361 NBPOSPL CA DEC17
016717,000051: 37,2013 55571 TS ZERONDX
016718,000052: 37,2014 32476 CA XNBADR
016719,000053: 37,2015 02367 TC ZEROING
016720,000054: 37,2016 34736 CA HALF
016721,000055: 37,2017 55664 TS XNB
016722,000056: 37,2020 06036 GUESS TC INTPRET
016723,000057: 37,2021 62545 LATAZCHK DLOAD SL2
016724,000058: 37,2022 02403 LATITUDE
016725,000059: 37,2023 15047 STODL DSPTEM1 +1
016726,000060: 37,2024 02401 AZIMUTH
016727,000061: 37,2025 77434 RTB EXIT
016728,000062: 37,2026 21520 1STO2S
016729,000063: 37,2027 56154 XCH MPAC
016730,000064: 37,2030 55045 TS DSPTEM1
016731,000065: 37,2031 32473 CAF VN0641
016732,000066: 37,2032 04616 TC BANKCALL
016733,000067: 37,2033 20351 CADR GOFLASH
016734,000068: 37,2034 02270 TC ENDTEST1
016735,000069: 37,2035 02037 TC +2
016736,000070: 37,2036 02031 TC -5
|
|
Page 387
|
016738,000072: 37,2037 06036 TC INTPRET
016739,000073: 37,2040 47135 SLOAD RTB
016740,000074: 37,2041 01046 DSPTEM1
016741,000075: 37,2042 21465 CDULOGIC
016742,000076: 37,2043 02401 STORE AZIMUTH
016743,000077: 37,2044 60535 SLOAD SR2
016744,000078: 37,2045 01047 DSPTEM1 +1
016745,000079: 37,2046 02403 STORE LATITUDE
016746,000080: 37,2047 57546 COS DCOMP
016747,000081: 37,2050 77752 SL1
016748,000082: 37,2051 16437 STODL WANGI
016749,000083: 37,2052 02403 LATITUDE
016750,000084: 37,2053 72556 SIN SL1
016751,000085: 37,2054 16435 STODL WANGO
016752,000086: 37,2055 02401 AZIMUTH
016753,000087: 37,2056 73406 PUSH SIN
016754,000088: 37,2057 02675 STORE YNB +2
016755,000089: 37,2060 16705 STODL ZNB +4
016756,000090: 37,2061 77746 COS
016757,000091: 37,2062 02677 STORE YNB +4
016758,000092: 37,2063 77676 DCOMP
016759,000093: 37,2064 36703 POSGMBL STCALL ZNB +2
016760,000094: 37,2065 47255 CALCGA
016761,000095: 37,2066 77776 EXIT
016762,000096: 37,2067 04616 TC BANKCALL
016763,000097: 37,2070 16753 CADR IMUCOARS
016764,000098: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
016765,000099: 37,2072 70077 MASK FLAGWRD3
016766,000100: 37,2073 00006 EXTEND
016767,000101: 37,2074 12076 BZF +2
016768,000102: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
016769,000103: 37,2076 05516 TC DOWNFLAG
016770,000104: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
016771,000105: 37,2100 02315 TC IMUSLLLG
016772,000106: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
016773,000107: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
016774,000108: 37,2103 02320 TC FINIMUDD
016775,000109: 37,2104 00006 EXTEND
016776,000110: 37,2105 31575 DCA PERFDLAY
016777,000111: 37,2106 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
016778,000112: 37,2107 E5,1416 EBANK= POSITON
016779,000113: 37,2107 02113 76065 2CADR GOESTIMS
016780,000114:
016781,000115: 37,2111 32116 CA ESTICADR
016782,000116: 37,2112 05133 TC JOBSLEEP
016783,000117: 37,2113 32116 GOESTIMS CA ESTICADR
016784,000118: 37,2114 05137 TC JOBWAKE
016785,000119: 37,2115 05261 TC TASKOVER
016786,000120: 37,2116 76500 ESTICADR CADR ESTIMS
016787,000121: 37,2117 34755 TORQUE CA ZERO
|
|
Page 388
|
016789,000123: 37,2120 55050 TS DSPTEM2
016790,000124: 37,2121 31504 CA DRIFTI
016791,000125: 37,2122 55051 TS DSPTEM2 +1
016792,000126: 37,2123 51416 INDEX POSITON
016793,000127: 37,2124 55420 TS SOUTHDR -1
016794,000128: 37,2125 02457 TC SHOW
016795,000129:
016796,000130: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
016797,000131: 37,2127 02130 TC +1
016798,000132: 37,2130 02447 TC EARTHR*
016799,000133: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
016800,000134: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTED TIME INTERVAL
016801,000135: 37,2133 32474 CA DEC58
016802,000136: 37,2134 55412 TS LENGTHOT
016803,000137: 37,2135 34753 CA ONE
016804,000138: 37,2136 55537 TS RESULTCT
016805,000139: 37,2137 34755 CA ZERO
016806,000140: 37,2140 51415 INDEX PIPINDEX
016807,000141: 37,2141 54037 TS PIPAX
016808,000142: 37,2142 55472 TS DATAPL
016809,000143: 37,2143 02332 TC CHECKG
016810,000144: 37,2144 00004 INHINT
016811,000145: 37,2145 34752 CAF TWO
016812,000146: 37,2146 05173 TC TWIDDLE
016813,000147: 37,2147 E5,1642 EBANK= XSM
016814,000148: 37,2147 02151 ADRES PIPATASK
016815,000149: 37,2150 05155 TC ENDOFJOB
016816,000150:
016817,000151: 37,2151 00006 PIPATASK EXTEND
016818,000152: 37,2152 27412 DIM LENGTHOT
016819,000153: 37,2153 31412 CA LENGTHOT
016820,000154: 37,2154 00006 EXTEND
016821,000155: 37,2155 62161 BZMF STARTPIP
016822,000156: 37,2156 34742 CAF BIT10
016823,000157: 37,2157 05173 TC TWIDDLE
016824,000158: 37,2160 E5,1642 EBANK= XSM
016825,000159: 37,2160 02151 ADRES PIPATASK
016826,000160: 37,2161 34736 STARTPIP CAF PRIO20
016827,000161: 37,2162 05105 TC FINDVAC
016828,000162: 37,2163 E5,1642 EBANK= XSM
016829,000163: 37,2163 02166 76065 2CADR PIPJOBB
016830,000164:
016831,000165: 37,2165 05261 TC TASKOVER
016832,000166:
016833,000167: 37,2166 51414 PIPJOBB INDEX NDXCTR
016834,000168: 37,2167 02170 TC +1
016835,000169: 37,2170 02447 TC EARTHR*
016836,000170: 37,2171 31412 CA LENGTHOT
|
|
Page 389
|
016838,000172: 37,2172 00006 EXTEND
016839,000173: 37,2173 62175 BZMF +2
016840,000174: 37,2174 05155 TC ENDOFJOB
016841,000175:
016842,000176: 37,2175 34756 CA FIVE
016843,000177: 37,2176 55537 TS RESULTCT
016844,000178: 37,2177 02332 TC CHECKG
016845,000179: 37,2200 11473 CCS DATAPL +1
016846,000180: 37,2201 02205 TC +4
016847,000181: 37,2202 05677 TC CCSHOLE
016848,000182: 37,2203 41476 CS DATAPL +4
016849,000183: 37,2204 55476 TS DATAPL +4
016850,000184: 37,2205 00006 EXTEND
016851,000185: 37,2206 41473 DCS DATAPL
016852,000186: 37,2207 21477 DAS DATAPL +4
016853,000187:
016854,000188: 37,2210 06036 TC INTPRET
016855,000189: 37,2211 45345 DLOAD DSU
016856,000190: 37,2212 02501 DATAPL +6
016857,000191: 37,2213 02475 DATAPL +2
016858,000192: 37,2214 45044 BPL CALL
016859,000193: 37,2215 76217 AINGOTN
016860,000194: 37,2216 76275 OVERFFIX
016861,000195: 37,2217 56325 AINGOTN PDDL DDV
016862,000196: 37,2220 02477 DATAPL +4
016863,000197: 37,2221 47075 DMPR RTB
016864,000198: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
016865,000199: 37,2223 21516 SGNAGREE
016866,000200: 37,2224 01051 STORE DSPTEM2
016867,000201: 37,2225 77776 EXIT
016868,000202: 37,2226 11414 CCS NDXCTR
016869,000203: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
016870,000204: 37,2230 02457 TC SHOW
016871,000205: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
016872,000206: 37,2232 55412 TS LENGTHOT
016873,000207: 37,2233 51416 INDEX POSITON
016874,000208: 37,2234 41417 CS SOUTHDR -2
016875,000209: 37,2235 55442 TS DRIFTT
016876,000210: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
016877,000211: 37,2237 12245 TCF PON4 # Z UP IN POS 4
016878,000212: 37,2240 44747 PON2 CS BIT5 # X UP
016879,000213: 37,2241 27565 ADS ERCOMP +2
016880,000214: 37,2242 34747 CA BIT5
016881,000215: 37,2243 27567 ADS ERCOMP +4
016882,000216: 37,2244 12251 TCF PON
016883,000217: 37,2245 44747 PON4 CS BIT5
016884,000218: 37,2246 27565 ADS ERCOMP +2
016885,000219: 37,2247 34747 CA BIT5
016886,000220: 37,2250 27563 ADS ERCOMP
016887,000221: 37,2251 02447 PON TC EARTHR*
|
|
Page 390
|
016889,000223: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
016890,000224: 37,2253 55404 TS ERVECTOR
016891,000225: 37,2254 55405 TS ERVECTOR +1
016892,000226: 37,2255 34733 GUESS1 CAF POSMAX
016893,000227: 37,2256 55440 TS TORQNDX
016894,000228: 37,2257 55441 TS TORQNDX +1
016895,000229: 37,2260 30032 CA CDUX
016896,000230: 37,2261 55413 TS LOSVEC
016897,000231: 37,2262 02500 TC ESTIMS
016898,000232: 37,2263 31502 VALMIS CA DRIFTO
016899,000233: 37,2264 55051 TS DSPTEM2 +1
016900,000234: 37,2265 34755 CA ZERO
016901,000235: 37,2266 55050 TS DSPTEM2
016902,000236: 37,2267 02457 TC SHOW
016903,000237:
016904,000238: 37,2270 05516 ENDTEST1 TC DOWNFLAG
016905,000239: 37,2271 00007 ADRES IMUSE
016906,000240: 37,2272 44755 CS ZERO
016907,000241: 37,2273 05314 TC NEWMODEA
016908,000242: 37,2274 05472 TC ENDEXT
016909,000243:
|
|
Page 391
|
016911,000245: 37,2275 43215 OVERFFIX DAD DAD
016912,000246: 37,2276 06432 DPPOSMAX
016913,000247: 37,2277 37064 ONEDPP
016914,000248: 37,2300 77616 RVQ
016915,000249:
016916,000250: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
016917,000251: 37,2302 23571 QXCH ZERONDX
016918,000252: 37,2303 34755 CA ZERO
016919,000253: 37,2304 54321 TS THETAD
016920,000254: 37,2305 54322 TS THETAD +1
016921,000255: 37,2306 54323 TS THETAD +2
016922,000256: 37,2307 04616 TC BANKCALL
016923,000257: 37,2310 16753 CADR IMUCOARS
016924,000258: 37,2311 04616 ALIGNCOA TC BANKCALL
016925,000259: 37,2312 17671 CADR IMUSTALL
016926,000260: 37,2313 03047 TC SOMERR2
016927,000261: 37,2314 01571 TC ZERONDX
016928,000262:
016929,000263: 37,2315 00006 IMUSLLLG EXTEND
016930,000264: 37,2316 23571 QXCH ZERONDX
016931,000265: 37,2317 02311 TC ALIGNCOA
016932,000266:
016933,000267: 37,2320 00006 FINIMUDD EXTEND
016934,000268: 37,2321 23571 QXCH ZERONDX
016935,000269: 37,2322 04616 TC BANKCALL
016936,000270: 37,2323 17163 CADR IMUFINE
016937,000271: 37,2324 02311 TC ALIGNCOA
016938,000272:
016939,000273: 37,2325 00006 IMUZERR EXTEND
016940,000274: 37,2326 23571 QXCH ZERONDX
016941,000275: 37,2327 04616 TC BANKCALL
016942,000276: 37,2330 16667 CADR IMUZERO
016943,000277: 37,2331 02311 TC ALIGNCOA
016944,000278:
016945,000279: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
016946,000280: 37,2333 23417 QXCH QPLACE
016947,000281: 37,2334 02342 TC +6
016948,000282: 37,2335 00003 CHECKG1 RELINT
016949,000283: 37,2336 30067 CA NEWJOB
016950,000284: 37,2337 00006 EXTEND
016951,000285: 37,2340 62346 BZMF +6
016952,000286: 37,2341 05122 TC CHANG1
016953,000287: 37,2342 00004 INHINT
016954,000288: 37,2343 51415 INDEX PIPINDEX
016955,000289: 37,2344 40037 CS PIPAX
016956,000290: 37,2345 55571 TS ZERONDX
016957,000291: 37,2346 00004 INHINT
|
|
Page 392
|
016959,000293: 37,2347 51415 INDEX PIPINDEX
016960,000294: 37,2350 30037 CA PIPAX
016961,000295: 37,2351 61571 AD ZERONDX
016962,000296: 37,2352 00006 EXTEND
016963,000297: 37,2353 12335 BZF CHECKG1
016964,000298: 37,2354 51415 INDEX PIPINDEX
016965,000299: 37,2355 30037 CA PIPAX
016966,000300: 37,2356 51537 INDEX RESULTCT
016967,000301: 37,2357 55472 TS DATAPL
016968,000302: 37,2360 04102 TC FINETIME
016969,000303: 37,2361 51537 INDEX RESULTCT
016970,000304: 37,2362 55473 TS DATAPL +1
016971,000305: 37,2363 51537 INDEX RESULTCT
016972,000306: 37,2364 23474 LXCH DATAPL +2
016973,000307: 37,2365 00003 RELINT
016974,000308: 37,2366 01417 ENDCHKG TC QPLACE
016975,000309:
016976,000310: 37,2367 54001 ZEROING TS L
016977,000311: 37,2370 12372 TCF +2
016978,000312: 37,2371 55571 ZEROING1 TS ZERONDX
016979,000313: 37,2372 34755 CAF ZERO
016980,000314: 37,2373 50001 INDEX L
016981,000315: 37,2374 54000 TS 0
016982,000316: 37,2375 24001 INCR L
016983,000317: 37,2376 11571 CCS ZERONDX
016984,000318: 37,2377 12371 TCF ZEROING1
016985,000319: 37,2400 00002 TC Q
016986,000320:
|
|
Page 393
|
016988,000322: 37,2401 65345 ERTHRVSE DLOAD PDDL
016989,000323: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
016990,000324: 37,2403 02403 LATITUDE
016991,000325: 37,2404 57546 COS DCOMP
016992,000326: 37,2405 73525 PDDL SIN
016993,000327: 37,2406 02403 LATITUDE
016994,000328: 37,2407 74266 VDEF VXSC
016995,000329: 37,2410 36001 OMEG/MS
016996,000330: 37,2411 02405 STORE ERVECTOR
016997,000331: 37,2412 77634 RTB
016998,000332: 37,2413 21462 LOADTIME
016999,000333: 37,2414 26433 STOVL TMARK
017000,000334: 37,2415 37057 SCHZEROS
017001,000335: 37,2416 02564 STORE ERCOMP
017002,000336: 37,2417 77616 RVQ
017003,000337:
017004,000338: 37,2420 47020 EARTHR ITA RTB
017005,000339: 37,2421 00051 S2
017006,000340: 37,2422 21462 LOADTIME
017007,000341: 37,2423 02431 STORE TEMPTIME
017008,000342: 37,2424 51025 DSU BPL
017009,000343: 37,2425 02433 TMARK
017010,000344: 37,2426 76431 ERTHR
017011,000345: 37,2427 77624 CALL
017012,000346: 37,2430 76275 OVERFFIX
017013,000347: 37,2431 74261 ERTHR SL VXSC
017014,000348: 37,2432 20212 9D
017015,000349: 37,2433 02405 ERVECTOR
017016,000350: 37,2434 53321 MXV VAD
017017,000351: 37,2435 02643 XSM
017018,000352: 37,2436 02564 ERCOMP
017019,000353: 37,2437 16564 STODL ERCOMP
017020,000354: 37,2440 02431 TEMPTIME
017021,000355: 37,2441 02433 STORE TMARK
017022,000356: 37,2442 47170 AXT,1 RTB
017023,000357: 37,2443 02563 ECADR ERCOMP
017024,000358: 37,2444 21625 PULSEIMU
017025,000359: 37,2445 77650 GOTO
017026,000360: 37,2446 00051 S2
017027,000361:
017028,000362: 37,2447 00006 EARTHR* EXTEND
017029,000363: 37,2450 23420 QXCH QPLACES
017030,000364: 37,2451 06036 TC INTPRET
017031,000365: 37,2452 77624 CALL
017032,000366: 37,2453 76420 EARTHR
017033,000367: 37,2454 77776 EXIT
017034,000368: 37,2455 02315 TC IMUSLLLG
017035,000369: 37,2456 01420 TC QPLACES
017036,000370:
017037,000371: 37,2457 00006 SHOW EXTEND
|
|
Page 394
|
017039,000373: 37,2460 23417 QXCH QPLACE
017040,000374: 37,2461 31416 SHOW1 CA POSITON
017041,000375: 37,2462 55052 TS DSPTEM2 +2
017042,000376: 37,2463 32472 CA VB06N98
017043,000377: 37,2464 04616 TC BANKCALL
017044,000378: 37,2465 20351 CADR GOFLASH
017045,000379: 37,2466 02270 TC ENDTEST1 # V 34
017046,000380: 37,2467 01417 TC QPLACE # V33
017047,000381: 37,2470 12461 TCF SHOW1
017048,000382:
017049,000383: 37,2471 07626 3990DEC DEC 3990 B-14
017050,000384: 37,2472 01542 VB06N98 VN 0698
017051,000385: 37,2473 01451 VN0641 VN 0641
017052,000386: 37,2474 4361 DEC17 = ND1
017053,000387: 37,2474 00072 DEC58 DEC 58 B-14
017054,000388: 37,2475 02737 OGCPL ECADR OGC
017055,000389: 37,2476 4777 1SECX = 1SEC
017056,000390: 37,2476 01664 XNBADR GENADR XNB
017057,000391: 37,2477 01642 XSMADR GENADR XSM
017058,000392: 4102 BLOCK 2
017059,000393: 4102 COUNT* $$/P07
017060,000394: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
017061,000395: 4103 00006 EXTEND
017062,000396: 4104 00004 READ LOSCALAR
017063,000397: 4105 54001 TS L
017064,000398: 4106 00006 EXTEND
017065,000399: 4107 06004 RXOR LOSCALAR
017066,000400: 4110 00006 EXTEND
017067,000401: 4111 14115 BZF +4
017068,000402: 4112 00006 EXTEND
017069,000403: 4113 00004 READ LOSCALAR
017070,000404: 4114 54001 TS L
017071,000405: 4115 44733 +4 CS POSMAX
017072,000406: 4116 60001 AD L
017073,000407: 4117 00006 EXTEND
017074,000408: 4120 14103 BZF FINETIME +1
017075,000409: 4121 00006 EXTEND
017076,000410: 4122 00003 READ HISCALAR
017077,000411: 4123 00002 TC Q
017078,000412:
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc