Method:
Enable the ATS calibrations in servo RAM.
Disable the usage of PES FIFO by servo.
For each head and seek direction (reverse/forward)
Measure the ATS transfer function at mid-radius.
Null the transfer function for the DC and harmonics above the last ATS harmonic.
For each zone.
Perform standard seek to first track in zone.
Calculate the ATS zone starting cylinder for current head.
Measure the mean ATS seek response for the zone.
Apply the transfer function and decimate the response to fit the ATS SAP table.
Disable the ATS calibrations in servo RAM.
If reporting head summary is enabled, report table P194_ATS_SUMMARY.
If reporting histograms, perform audit seeks and report histograms for each head/seek direction/zone using table P194_ATS_SEEK_HSTGRMS.
If updating SAP ATS, flash the SAP.