anchor.diff:     REAL(ReKi)  ::  MBB2(DOFR, DOFR)
      REAL(ReKi)  ::  MBM2(DOFR, DOFM)   
      REAL(ReKi)                            :: KLL_inv(DOFL, DOFL)
  -   REAL(ReKi)                            :: Mu(DOFL, DOFL)
  +   REAL(ReKi)                            :: Mu(DOFL, DOFL),Mu2(DOFL, DOFL)  !matrices for normalization, Mu2 is diagonal
  +   
  +   REAL(DbKi)           :: PhiM2(DOFL, DOFM)  
  +   
      Character(1024) :: rootname
      INTEGER                               :: I
      
  
positive.code:    END IF   
     p%D2_42 = 0         
     
        ! Allocate Abar_21
     ALLOCATE( p%Abar_21(DOFL, DOFM), STAT = ErrStat )
     IF ( ErrStat/= ErrID_None ) THEN
        ErrStat = ErrID_Fatal
        ErrMsg  = 'Error allocating parameter matrix p%Abar_21 in SubDyn_Init/Set parameters'
        RETURN
     END IF   
     p%Abar_21 = 0            
     
        ! Allocate Abar_22
     ALLOCATE( p%Abar_22(DOFL, DOFM), STAT = ErrStat )
     IF ( ErrStat/= ErrID_None ) THEN
        ErrStat = ErrID_Fatal
        ErrMsg  = 'Error allocating parameter matrix p%Abar_22 in SubDyn_Init/Set parameters'
        RETURN
     END IF   
     p%Abar_22 = 0               
     
        ! Allocate Bbar_13
     ALLOCATE( p%Bbar_13(DOFI, p%TPdofL), STAT = ErrStat )
     IF ( ErrStat/= ErrID_None ) THEN
        ErrStat = ErrID_Fatal
        ErrMsg  = 'Error allocating parameter matrix p%Bbar_13 in SubDyn_Init/Set parameters'
        RETURN
     END IF   
     p%Bbar_13 = 0               
     
        ! Allocate Bbar_23
     ALLOCATE( p%Bbar_23(DOFL, p%TPdofL), STAT = ErrStat )
     IF ( ErrStat/= ErrID_None ) THEN
        ErrStat = ErrID_Fatal
        ErrMsg  = 'Error allocating parameter matrix p%Bbar_23 in SubDyn_Init/Set parameters'
        RETURN
     END IF   
     p%Bbar_23 = 0               
  
        ! Allocate Bbar_24
     ALLOCATE( p%Bbar_24(DOFL, DOFL), STAT = ErrStat )
     IF ( ErrStat/= ErrID_None ) THEN
        ErrStat = ErrID_Fatal
        ErrMsg  = 'Error allocating parameter matrix p%Bbar_24 in SubDyn_Init/Set parameters'
        RETURN
     END IF   
     p%Bbar_24 = 0
     
        ! Allocate Fbar_21
     ALLOCATE( p%Fbar_21(DOFL), STAT = ErrStat )
  
negative.code:    
     ! normalize PhiM
     MU = MATMUL ( MATMUL( TRANSPOSE(PhiM), MLL ), PhiM )
     MU2=0 !Initialize
     DO I = 1, DOFM
        MU2(I, I) = 1./SQRT( MU(I, I) )  !RRD this is was wrong and I fixed it 6/10/2013
        OmegaM(I) = SQRT( OmegaM(I) )
     ENDDO
     
     PhiM = MATMUL( PhiM, MU2 )  !this is the nondimensionalization 
  
     MBB = MRR + MATMUL(MRL, PhiR) + TRANSPOSE( MATMUL(MRL, PhiR) ) &
               + MATMUL( MATMUL(TRANSPOSE(PhiR), MLL), PhiR )
  