Source Code
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These source-code files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology". It is believed
that the original listing was preserved by AGC developer Don Eyles, copied/reduced by
AGC developer Hugh Blair-Smith, passed by AGC developer James Kernan to collector David Craig,
scanned by Gary Neff, and then passed to the Dibner Institute
where unfortunately the high-quality scans were reduced in legibility as part of the
online-presentation process, and the original scans discarded.
The source code was transcribed from
those images by Ron Burkey. The images from the Dibner Institute website, and unfortunately not
the discarded original high-quality scans, though with a few high-quality replacement scans
provided directly by Gary Neff, are now available
at the Virtual AGC project website.
Report any conversion errors to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date of the printout, not the date of the program revision. |
015428,000002: ## Copyright: Public domain.
015429,000003: ## Filename: IMU_PERFORMANCE_TEST_2.agc
015430,000004: ## Purpose: A section of Luminary 1C, revision 131.
015431,000005: ## It is part of the source code for the Lunar Module's (LM)
015432,000006: ## Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
015433,000007: ## This file is intended to be a faithful transcription, except
015434,000008: ## that the code format has been changed to conform to the
015435,000009: ## requirements of the yaYUL assembler rather than the
015436,000010: ## original YUL assembler.
015437,000011: ## Reference: pp. 380-388 of 1729.pdf.
015438,000012: ## Contact: Ron Burkey <info@sandroid.org>.
015439,000013: ## Website: www.ibiblio.org/apollo/index.html
015440,000014: ## Mod history: 05/11/03 RSB. Began transcribing.
015441,000015: ## 05/14/05 RSB Corrected website reference above.
015442,000016:
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Page 380 |
015444,000018: # NAME -- IMU PERFORMANCE TESTS 2
015445,000019:
015446,000020: # DATE -- MARCH 20, 1967
015447,000021:
015448,000022: # BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274
015449,000023:
015450,000024: # MODNO. -- ZERO
015451,000025:
015452,000026: # FUNCTIONAL DESCRIPTION
015453,000027:
015454,000028: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
015455,000029: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
015456,000030: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
015457,000031:
015458,000032: 33,2045 BANK 33
015459,000033: 37,2000 SETLOC IMU2
015460,000034: 37,2000 BANK
015461,000035: 37,2002 E5,1416 EBANK= POSITON
015462,000036: 37,2002 COUNT* $$/P07
015463,000037:
015464,000038: 37,2002 05311 REDO TC NEWMODEX
015465,000039: 37,2003 00007 MM 07 B-14
015466,000040:
015467,000041: 37,2004 02325 GEOIMUTT TC IMUZERR
015468,000042: 37,2005 34755 IMUBACK CA ZERO
015469,000043: 37,2006 55414 TS NDXCTR
015470,000044: 37,2007 55440 TS TORQNDX
015471,000045: 37,2010 55441 TS TORQNDX +1
015472,000046: 37,2011 55576 TS OVFLOWCK
015473,000047: 37,2012 34361 NBPOSPL CA DEC17
015474,000048: 37,2013 55571 TS ZERONDX
015475,000049: 37,2014 32476 CA XNBADR
015476,000050: 37,2015 02367 TC ZEROING
015477,000051: 37,2016 34736 CA HALF
015478,000052: 37,2017 55664 TS XNB
015479,000053: 37,2020 06042 GUESS TC INTPRET
015480,000054: 37,2021 62545 LATAZCHK DLOAD SL2
015481,000055: 37,2022 02403 LATITUDE
015482,000056: 37,2023 15046 STODL DSPTEM1 +1
015483,000057: 37,2024 02401 AZIMUTH
015484,000058: 37,2025 77434 RTB EXIT
015485,000059: 37,2026 21615 1STO2S
015486,000060: 37,2027 56154 XCH MPAC
015487,000061: 37,2030 55044 TS DSPTEM1
015488,000062: 37,2031 32473 CAF VN0641
015489,000063: 37,2032 04616 TC BANKCALL
015490,000064: 37,2033 20477 CADR GOFLASH
015491,000065: 37,2034 02270 TC ENDTEST1
015492,000066: 37,2035 02037 TC +2
015493,000067: 37,2036 02031 TC -5
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Page 381 |
015495,000069: 37,2037 06042 TC INTPRET
015496,000070: 37,2040 47135 SLOAD RTB
015497,000071: 37,2041 01045 DSPTEM1
015498,000072: 37,2042 21577 CDULOGIC
015499,000073: 37,2043 02401 STORE AZIMUTH
015500,000074: 37,2044 60535 SLOAD SR2
015501,000075: 37,2045 01046 DSPTEM1 +1
015502,000076: 37,2046 02403 STORE LATITUDE
015503,000077: 37,2047 57546 COS DCOMP
015504,000078: 37,2050 77752 SL1
015505,000079: 37,2051 16437 STODL WANGI
015506,000080: 37,2052 02403 LATITUDE
015507,000081: 37,2053 72556 SIN SL1
015508,000082: 37,2054 16435 STODL WANGO
015509,000083: 37,2055 02401 AZIMUTH
015510,000084: 37,2056 73406 PUSH SIN
015511,000085: 37,2057 02675 STORE YNB +2
015512,000086: 37,2060 16705 STODL ZNB +4
015513,000087: 37,2061 77746 COS
015514,000088: 37,2062 02677 STORE YNB +4
015515,000089: 37,2063 77676 DCOMP
015516,000090: 37,2064 36703 POSGMBL STCALL ZNB +2
015517,000091: 37,2065 47355 CALCGA
015518,000092: 37,2066 77776 EXIT
015519,000093: 37,2067 04616 TC BANKCALL
015520,000094: 37,2070 16771 CADR IMUCOARS
015521,000095: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
015522,000096: 37,2072 70077 MASK FLAGWRD3
015523,000097: 37,2073 00006 EXTEND
015524,000098: 37,2074 12076 BZF +2
015525,000099: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
015526,000100: 37,2076 05516 TC DOWNFLAG
015527,000101: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
015528,000102: 37,2100 02315 TC IMUSLLLG
015529,000103: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
015530,000104: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
015531,000105: 37,2103 02320 TC FINIMUDD
015532,000106: 37,2104 00006 EXTEND
015533,000107: 37,2105 31575 DCA PERFDLAY
015534,000108: 37,2106 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
015535,000109: 37,2107 E5,1416 EBANK= POSITON
015536,000110: 37,2107 02113 76065 2CADR GOESTIMS
015537,000111:
015538,000112: 37,2111 32116 CA ESTICADR
015539,000113: 37,2112 05133 TC JOBSLEEP
015540,000114: 37,2113 32116 GOESTIMS CA ESTICADR
015541,000115: 37,2114 05137 TC JOBWAKE
015542,000116: 37,2115 05261 TC TASKOVER
015543,000117: 37,2116 76500 ESTICADR CADR ESTIMS
015544,000118: 37,2117 34755 TORQUE CA ZERO
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Page 382 |
015546,000120: 37,2120 55047 TS DSPTEM2
015547,000121: 37,2121 31504 CA DRIFTI
015548,000122: 37,2122 55050 TS DSPTEM2 +1
015549,000123: 37,2123 51416 INDEX POSITON
015550,000124: 37,2124 55420 TS SOUTHDR -1
015551,000125: 37,2125 02457 TC SHOW
015552,000126:
015553,000127: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
015554,000128: 37,2127 02130 TC +1
015555,000129: 37,2130 02447 TC EARTHR*
015556,000130: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
015557,000131: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTTED TIME INTERVAL
015558,000132: 37,2133 32474 CA DEC58
015559,000133: 37,2134 55412 TS LENGTHOT
015560,000134: 37,2135 34753 CA ONE
015561,000135: 37,2136 55537 TS RESULTCT
015562,000136: 37,2137 34755 CA ZERO
015563,000137: 37,2140 51415 INDEX PIPINDEX
015564,000138: 37,2141 54037 TS PIPAX
015565,000139: 37,2142 55472 TS DATAPL
015566,000140: 37,2143 02332 TC CHECKG
015567,000141: 37,2144 00004 INHINT
015568,000142: 37,2145 34752 CAF TWO
015569,000143: 37,2146 05173 TC TWIDDLE
015570,000144: 37,2147 E5,1642 EBANK= XSM
015571,000145: 37,2147 02151 ADRES PIPATASK
015572,000146: 37,2150 05155 TC ENDOFJOB
015573,000147:
015574,000148: 37,2151 00006 PIPATASK EXTEND
015575,000149: 37,2152 27412 DIM LENGTHOT
015576,000150: 37,2153 31412 CA LENGTHOT
015577,000151: 37,2154 00006 EXTEND
015578,000152: 37,2155 62161 BZMF STARTPIP
015579,000153: 37,2156 34742 CAF BIT10
015580,000154: 37,2157 05173 TC TWIDDLE
015581,000155: 37,2160 E5,1642 EBANK= XSM
015582,000156: 37,2160 02151 ADRES PIPATASK
015583,000157: 37,2161 34736 STARTPIP CAF PRIO20
015584,000158: 37,2162 05105 TC FINDVAC
015585,000159: 37,2163 E5,1642 EBANK= XSM
015586,000160: 37,2163 02166 76065 2CADR PIPJOBB
015587,000161:
015588,000162: 37,2165 05261 TC TASKOVER
015589,000163:
015590,000164: 37,2166 51414 PIPJOBB INDEX NDXCTR
015591,000165: 37,2167 02170 TC +1
015592,000166: 37,2170 02447 TC EARTHR*
015593,000167: 37,2171 31412 CA LENGTHOT
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Page 383 |
015595,000169: 37,2172 00006 EXTEND
015596,000170: 37,2173 62175 BZMF +2
015597,000171: 37,2174 05155 TC ENDOFJOB
015598,000172:
015599,000173: 37,2175 34756 CA FIVE
015600,000174: 37,2176 55537 TS RESULTCT
015601,000175: 37,2177 02332 TC CHECKG
015602,000176: 37,2200 11473 CCS DATAPL +1
015603,000177: 37,2201 02205 TC +4
015604,000178: 37,2202 05675 TC CCSHOLE
015605,000179: 37,2203 41476 CS DATAPL +4
015606,000180: 37,2204 55476 TS DATAPL +4
015607,000181: 37,2205 00006 EXTEND
015608,000182: 37,2206 41473 DCS DATAPL
015609,000183: 37,2207 21477 DAS DATAPL +4
015610,000184:
015611,000185: 37,2210 06042 TC INTPRET
015612,000186: 37,2211 45345 DLOAD DSU
015613,000187: 37,2212 02501 DATAPL +6
015614,000188: 37,2213 02475 DATAPL +2
015615,000189: 37,2214 45044 BPL CALL
015616,000190: 37,2215 76217 AINGOTN
015617,000191: 37,2216 76275 OVERFFIX
015618,000192: 37,2217 56325 AINGOTN PDDL DDV
015619,000193: 37,2220 02477 DATAPL +4
015620,000194: 37,2221 47075 DMPR RTB
015621,000195: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEVINED FOR LEM
015622,000196: 37,2223 21613 SGNAGREE
015623,000197: 37,2224 01050 STORE DSPTEM2
015624,000198: 37,2225 77776 EXIT
015625,000199: 37,2226 11414 CCS NDXCTR
015626,000200: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
015627,000201: 37,2230 02457 TC SHOW
015628,000202: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
015629,000203: 37,2232 55412 TS LENGTHOT
015630,000204: 37,2233 51416 INDEX POSITON
015631,000205: 37,2234 41417 CS SOUTHDR -2
015632,000206: 37,2235 55442 TS DRIFTT
015633,000207: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MIS PIP DEAD-ZONES
015634,000208: 37,2237 12245 TCF PON4 # Z-UP IN POS 4
015635,000209: 37,2240 44747 PON2 CS BIT5 # X-UP
015636,000210: 37,2241 27565 ADS ERCOMP +2
015637,000211: 37,2242 34747 CA BIT5
015638,000212: 37,2243 27567 ADS ERCOMP +4
015639,000213: 37,2244 12251 TCF PON
015640,000214: 37,2245 44747 PON4 CS BIT5
015641,000215: 37,2246 27565 ADS ERCOMP +2
015642,000216: 37,2247 34747 CA BIT5
015643,000217: 37,2250 27563 ADS ERCOMP
015644,000218: 37,2251 02447 PON TC EARTHR*
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Page 384 |
015646,000220: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
015647,000221: 37,2253 55404 TS ERVECTOR
015648,000222: 37,2254 55405 TS ERVECTOR +1
015649,000223: 37,2255 34733 GUESS1 CAF POSMAX
015650,000224: 37,2256 55440 TS TORQNDX
015651,000225: 37,2257 55441 TS TORQNDX +1
015652,000226: 37,2260 30032 CA CDUX
015653,000227: 37,2261 55413 TS LOSVEC
015654,000228: 37,2262 02500 TC ESTIMS
015655,000229: 37,2263 31502 VALMIS CA DRIFTO
015656,000230: 37,2264 55050 TS DSPTEM2 +1
015657,000231: 37,2265 34755 CA ZERO
015658,000232: 37,2266 55047 TS DSPTEM2
015659,000233: 37,2267 02457 TC SHOW
015660,000234:
015661,000235: 37,2270 05516 ENDTEST1 TC DOWNFLAG
015662,000236: 37,2271 00007 ADRES IMUSE
015663,000237: 37,2272 44755 CS ZERO
015664,000238: 37,2273 05314 TC NEWMODEA
015665,000239: 37,2274 05472 TC ENDEXT
015666,000240:
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Page 385 |
015668,000242: 37,2275 43215 OVERFFIX DAD DAD
015669,000243: 37,2276 06532 DPPOSMAX
015670,000244: 37,2277 37064 ONEDPP
015671,000245: 37,2300 77616 RVQ
015672,000246:
015673,000247: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
015674,000248: 37,2302 23571 QXCH ZERONDX
015675,000249: 37,2303 34755 CA ZERO
015676,000250: 37,2304 54321 TS THETAD
015677,000251: 37,2305 54322 TS THETAD +1
015678,000252: 37,2306 54323 TS THETAD +2
015679,000253: 37,2307 04616 TC BANKCALL
015680,000254: 37,2310 16771 CADR IMUCOARS
015681,000255: 37,2311 04616 ALIGNCOA TC BANKCALL
015682,000256: 37,2312 17707 CADR IMUSTALL
015683,000257: 37,2313 03047 TC SOMERR2
015684,000258: 37,2314 01571 TC ZERONDX
015685,000259:
015686,000260: 37,2315 00006 IMUSLLLG EXTEND
015687,000261: 37,2316 23571 QXCH ZERONDX
015688,000262: 37,2317 02311 TC ALIGNCOA
015689,000263:
015690,000264: 37,2320 00006 FINIMUDD EXTEND
015691,000265: 37,2321 23571 QXCH ZERONDX
015692,000266: 37,2322 04616 TC BANKCALL
015693,000267: 37,2323 17201 CADR IMUFINE
015694,000268: 37,2324 02311 TC ALIGNCOA
015695,000269:
015696,000270: 37,2325 00006 IMUZERR EXTEND
015697,000271: 37,2326 23571 QXCH ZERONDX
015698,000272: 37,2327 04616 TC BANKCALL
015699,000273: 37,2330 16705 CADR IMUZERO
015700,000274: 37,2331 02311 TC ALIGNCOA
015701,000275:
015702,000276: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
015703,000277: 37,2333 23417 QXCH QPLACE
015704,000278: 37,2334 02342 TC +6
015705,000279: 37,2335 00003 CHECKG1 RELINT
015706,000280: 37,2336 30067 CA NEWJOB
015707,000281: 37,2337 00006 EXTEND
015708,000282: 37,2340 62346 BZMF +6
015709,000283: 37,2341 05122 TC CHANG1
015710,000284: 37,2342 00004 INHINT
015711,000285: 37,2343 51415 INDEX PIPINDEX
015712,000286: 37,2344 40037 CS PIPAX
015713,000287: 37,2345 55571 TS ZERONDX
015714,000288: 37,2346 00004 INHINT
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Page 386 |
015716,000290: 37,2347 51415 INDEX PIPINDEX
015717,000291: 37,2350 30037 CA PIPAX
015718,000292: 37,2351 61571 AD ZERONDX
015719,000293: 37,2352 00006 EXTEND
015720,000294: 37,2353 12335 BZF CHECKG1
015721,000295: 37,2354 51415 INDEX PIPINDEX
015722,000296: 37,2355 30037 CA PIPAX
015723,000297: 37,2356 51537 INDEX RESULTCT
015724,000298: 37,2357 55472 TS DATAPL
015725,000299: 37,2360 04102 TC FINETIME
015726,000300: 37,2361 51537 INDEX RESULTCT
015727,000301: 37,2362 55473 TS DATAPL +1
015728,000302: 37,2363 51537 INDEX RESULTCT
015729,000303: 37,2364 23474 LXCH DATAPL +2
015730,000304: 37,2365 00003 RELINT
015731,000305: 37,2366 01417 ENDCHKG TC QPLACE
015732,000306:
015733,000307: 37,2367 54001 ZEROING TS L
015734,000308: 37,2370 12372 TCF +2
015735,000309: 37,2371 55571 ZEROING1 TS ZERONDX
015736,000310: 37,2372 34755 CAF ZERO
015737,000311: 37,2373 50001 INDEX L
015738,000312: 37,2374 54000 TS 0
015739,000313: 37,2375 24001 INCR L
015740,000314: 37,2376 11571 CCS ZERONDX
015741,000315: 37,2377 12371 TCF ZEROING1
015742,000316: 37,2400 00002 TC Q
015743,000317:
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Page 387 |
015745,000319: 37,2401 65345 ERTHRVSE DLOAD PDDL
015746,000320: 37,2402 37057 SCHZEROS # PD24 = (SIN (missing) -COS (missing) 0)(OMEG/MS)
015747,000321: 37,2403 02403 LATITUDE
015748,000322: 37,2404 57546 COS DCOMP
015749,000323: 37,2405 73525 PDDL SIN
015750,000324: 37,2406 02403 LATITUDE
015751,000325: 37,2407 74266 VDEF VXSC
015752,000326: 37,2410 36001 OMEG/MS
015753,000327: 37,2411 02405 STORE ERVECTOR
015754,000328: 37,2412 77634 RTB
015755,000329: 37,2413 21574 LOADTIME
015756,000330: 37,2414 26433 STOVL TMARK
015757,000331: 37,2415 37057 SCHZEROS
015758,000332: 37,2416 02564 STORE ERCOMP
015759,000333: 37,2417 77616 RVQ
015760,000334:
015761,000335: 37,2420 47020 EARTHR ITA RTB
015762,000336: 37,2421 00051 S2
015763,000337: 37,2422 21574 LOADTIME
015764,000338: 37,2423 02431 STORE TEMPTIME
015765,000339: 37,2424 51025 DSU BPL
015766,000340: 37,2425 02433 TMARK
015767,000341: 37,2426 76431 ERTHR
015768,000342: 37,2427 77624 CALL
015769,000343: 37,2430 76275 OVERFFIX
015770,000344: 37,2431 74261 ERTHR SL VXSC
015771,000345: 37,2432 20212 9D
015772,000346: 37,2433 02405 ERVECTOR
015773,000347: 37,2434 53321 MXV VAD
015774,000348: 37,2435 02643 XSM
015775,000349: 37,2436 02564 ERCOMP
015776,000350: 37,2437 16564 STODL ERCOMP
015777,000351: 37,2440 02431 TEMPTIME
015778,000352: 37,2441 02433 STORE TMARK
015779,000353: 37,2442 47170 AXT,1 RTB
015780,000354: 37,2443 02563 ECADR ERCOMP
015781,000355: 37,2444 21706 PULSEIMU
015782,000356: 37,2445 77650 GOTO
015783,000357: 37,2446 00051 S2
015784,000358:
015785,000359: 37,2447 00006 EARTHR* EXTEND
015786,000360: 37,2450 23420 QXCH QPLACES
015787,000361: 37,2451 06042 TC INTPRET
015788,000362: 37,2452 77624 CALL
015789,000363: 37,2453 76420 EARTHR
015790,000364: 37,2454 77776 EXIT
015791,000365: 37,2455 02315 TC IMUSLLLG
015792,000366: 37,2456 01420 TC QPLACES
015793,000367:
015794,000368: 37,2457 00006 SHOW EXTEND
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Page 388 |
015796,000370: 37,2460 23417 QXCH QPLACE
015797,000371: 37,2461 31416 SHOW1 CA POSITON
015798,000372: 37,2462 55051 TS DSPTEM2 +2
015799,000373: 37,2463 32472 CA VB06N98
015800,000374: 37,2464 04616 TC BANKCALL
015801,000375: 37,2465 20477 CADR GOFLASH
015802,000376: 37,2466 02270 TC ENDTEST1 # V34
015803,000377: 37,2467 01417 TC QPLACE # V33
015804,000378: 37,2470 12461 TCF SHOW1
015805,000379:
015806,000380: 37,2471 07626 3990DEC DEC 3990 B-14
015807,000381: 37,2472 01542 VB06N98 VN 0698
015808,000382: 37,2473 01451 VN0641 VN 0641
015809,000383: 37,2474 4361 DEC17 = ND1
015810,000384: 37,2474 00072 DEC58 DEC 58 B-14
015811,000385: 37,2475 02737 OGCPL ECADR OGC
015812,000386: 37,2476 4777 1SECX = 1SEC
015813,000387: 37,2476 01664 XNBADR GENADR XNB
015814,000388: 37,2477 01642 XSMADR GENADR XSM
015815,000389:
015816,000390: 4102 BLOCK 2
015817,000391: 4102 COUNT* $$/P07
015818,000392: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
015819,000393: 4103 00006 EXTEND
015820,000394: 4104 00004 READ LOSCALAR
015821,000395: 4105 54001 TS L
015822,000396: 4106 00006 EXTEND
015823,000397: 4107 06004 RXOR LOSCALAR
015824,000398: 4110 00006 EXTEND
015825,000399: 4111 14115 BZF +4
015826,000400: 4112 00006 EXTEND
015827,000401: 4113 00004 READ LOSCALAR
015828,000402: 4114 54001 TS L
015829,000403: 4115 44733 CS POSMAX
015830,000404: 4116 60001 AD L
015831,000405: 4117 00006 EXTEND
015832,000406: 4120 14103 BZF FINETIME +1
015833,000407: 4121 00006 EXTEND
015834,000408: 4122 00003 READ HISCALAR
015835,000409: 4123 00002 TC Q
015836,000410:
End of include-file IMU_PERFORMANCE_TEST_2.agc. Parent file is MAIN.agc