Taken from the M1 manual is this flow chart for emissions.
In summary, for an engine > 1992 you need the following readings:
Idle Test (450 - 1500rpm)
CO <= 0.3%
Fast Idle Test (2500 to 3000rpm)
CO <= 0.2%
HC <= 200ppm
Lambda between 0.97 and 1.03
For further information on the subject of emissions, please consult the M1 manual.
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