The 1600 meter walk test is a submaximal test the requires you to walk 1600 meter as fast as you can.
Instructions:
1. Make sure you have a known distance to walk. Could be 400 meters to walk four times or a measured 1600 meter distance.
2. Walk as fast as you can without feeling strained.
3. Note the time and the heart rate when finishing the distance.  Float this calculator
Background
Reference
Estimation of VO2max from a one-mile track walk, gender, age, and body weight.
Kline GM, Porcari JP, Hintermeister R, Freedson PS, Ward A, McCarron RF, Ross J, Rippe JM.
Med Sci Sports Exerc 1987 Jun;19(3):253-9
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Fitness tests 
