anchor.diff:  
   
   END SUBROUTINE BD_CrvCompose
  +
  +
   !-----------------------------------------------------------------------------------------------------------------------------------
   !> This subroutine computes the CRV parameters given the rotation matrix
   !> The algorithm for this subroutine can be found in Markley, 'Unit Quaternion from Rotation Matrix'
  
positive.code:    REAL(BDKi),       INTENT(  OUT)  :: cc(3)         !< Crv paramters
     INTEGER(IntKi),   INTENT(  OUT)  :: ErrStat       !< Error status of the operation
     CHARACTER(*),     INTENT(  OUT)  :: ErrMsg        !< Error message if ErrStat /= ErrID_None
  
     !Local variables
     REAL(BDKi)                  :: pivot(4) ! Trace of the rotation matrix and diagonal elements
     REAL(BDKi)                  :: sm0
     REAL(BDKi)                  :: sm1
  
negative.code:    !! It does, however, match equation 5.17 in the March 2016 "BeamDyn User's Guide and Theory Manual"
  
     ! mjs--determine whether R is a valid rotation matrix and correct it if not
     call BD_CheckRotMat(Rr, ErrStat2, ErrMsg2)
     CALL SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName)
     if (ErrStat >= AbortErrLev) return
  
  