anchor.diff:        endif
   
         ! Compute external force on internal (F_L) and interface nodes (F_I)
  -      call GetExtForceOnInternalDOF(u, p, x, m, m%F_L, ErrStat2, ErrMsg2, ExtraMoment=(p%ExtraMoment), RotateLoads=.False., U_full=m%U_full); if(Failed()) return
  +      call GetExtForceOnInternalDOF(u, p, x, m, m%F_L, ErrStat2, ErrMsg2, ExtraMoment=(p%ExtraMoment), RotateLoads=.False.); if(Failed()) return
         call GetExtForceOnInterfaceDOF(p, m%Fext, F_I)
   
         ! Compute reaction/coupling force at TP
  
positive.code:          enddo
        endif 
     else
        m%UR_bar        = 0.0_ReKi
        m%UL            = 0.0_ReKi
        ! --- CB modes contribution to motion (L-DOF only), NO STATIC IMPROVEMENT
        if (bElastic .and. p%nDOFM > 0) then
           m%UL = matmul( p%PhiM,  x%qm    )
        end if
        ! --- Adding Guyan contribution to R and L DOFs
        if (bGuyan .and. .not.p%Floating) then
           m%UR_bar        =                       matmul( p%TI      , m%u_TP       )
           m%UL            =   m%UL            +   matmul( p%PhiRb_TI, m%u_TP       ) 
        else
           ! Guyan modes are rigid body modes, we will add them in the "Full system" later
        endif
        ! --- Build original DOF vectors (DOF before the CB reduction)
        m%U_red       (p%IDI__) = m%UR_bar
        m%U_red       (p%ID__L) = m%UL     
        m%U_red       (p%IDC_Rb)= 0    ! NOTE: for now we don't have leader DOF at "C" (bottom)
        m%U_red       (p%ID__F) = 0
        if (p%reduced) then
           DU_full        = matmul(p%T_red, m%U_red)
        else
           DU_full        = m%U_red
        endif
        ! --- Adding Guyan contribution for rigid body
        if (bGuyan .and. p%Floating) then
  
negative.code:             m%U_full_dotdot(DOFList(1:3)) = matmul(Rb2g, m%U_full_dotdot(DOFList(1:3))) + aP(1:3)
              m%U_full_dotdot(DOFList(4:6)) = matmul(Rb2g, m%U_full_dotdot(DOFList(4:6))) + OmD(1:3)
  
              ! NOTE: For now, displacements passed to HydroDyn are Guyan only!
              ! Construct the direction cosine matrix given the output angles
              !call SmllRotTrans( 'UR_bar input angles', m%U_full(DOFList(4)), m%U_full(DOFList(5)), m%U_full(DOFList(6)), DCM, '', ErrStat2, ErrMsg2)
              call SmllRotTrans( 'UR_bar input angles', rotations(1), rotations(2), rotations(3), DCM, '', ErrStat2, ErrMsg2) ! NOTE: using only Guyan rotations
              call SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, 'SD_CalcOutput')
              y%Y2mesh%Orientation     (:,:,iSDNode)   = DCM
              !y%Y2mesh%TranslationDisp (:,iSDNode)     = m%U_full        (DOFList(1:3)
              y%Y2mesh%TranslationDisp (:,iSDNode)     = duP(1:3)                       ! NOTE: using only the Guyan Displacements
              y%Y2mesh%TranslationVel  (:,iSDNode)     = m%U_full_dot    (DOFList(1:3))
              y%Y2mesh%TranslationAcc  (:,iSDNode)     = m%U_full_dotdot (DOFList(1:3))
              y%Y2mesh%RotationVel     (:,iSDNode)     = m%U_full_dot    (DOFList(4:6))
  