anchor.diff:        endif
   
         ! Compute external force on internal (F_L) and interface nodes (F_I)
  -      call GetExtForceOnInternalDOF(u, p, m, m%F_L, ErrStat2, ErrMsg2, ExtraMoment=(p%ExtraMoment), RotateLoads=.False.); 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
  -      Y1_Utp  = - (matmul(p%KBB,   m%u_TP) + matmul(p%CBB, m%udot_TP) + matmul(p%MBB, m%udotdot_TP) )
  +      Y1_Utp  = - (matmul(p%KBB, m%u_TP) + matmul(p%CBB, m%udot_TP) + matmul(p%MBB, m%udotdot_TP) )
         if (p%nDOFM>0) then
  -         if (p%Floating) then
  -            Y1_Utp  = Y1_Utp + matmul(RRb2g, matmul(p%MBmmB, matmul(transpose(RRb2g), m%udotdot_TP)))  !>>> New
  -         else
  +         !>>> New
  +         !if (p%Floating) then
  +         !   Y1_Utp  = Y1_Utp + matmul(RRb2g, matmul(p%MBmmB, matmul(transpose(RRb2g), m%udotdot_TP)))  
  +         !else
               Y1_Utp  = Y1_Utp + matmul(p%MBmmB, m%udotdot_TP)  
  -         endif
  +         !endif
         endif
         if ( p%nDOFM > 0) then
  -         Y1_CB = -( matmul(p%C1_11, x%qm)   + matmul(p%C1_12,x%qmdot))
  -         if (p%Floating) then
  -            Y1_CB = matmul(RRb2g, Y1_CB) !>>> New 
  -         endif
  +         Y1_CB = -( matmul(p%C1_11, x%qm) + matmul(p%C1_12, x%qmdot) )
  +         !if (p%Floating) then
  +         !   Y1_CB = matmul(RRb2g, Y1_CB) !>>> New 
  +         !endif
         else
            Y1_CB = 0.0_ReKi
         endif
         Y1_Guy_R =   matmul( F_I, p%TI )
  -      Y1_Guy_L = - matmul(p%D1_142, m%F_L) 
  +      Y1_Guy_L = - matmul(p%D1_142, m%F_L)  ! non rotated loads
         if (.not.(p%ExtraMoment.and.p%Floating)) then
            Y1_CB_L = - (matmul(p%D1_141, m%F_L)) ! Uses non rotated loads
         endif
         if (p%Floating) then
  -         Y1_CB_L = matmul(RRb2g, Y1_CB_L) !>>> New
  +         !Y1_CB_L = matmul(RRb2g, Y1_CB_L) !>>> New
         endif
   
         Y1 = Y1_CB + Y1_Utp + Y1_CB_L+ Y1_Guy_L + Y1_Guy_R 
  
positive.code:    !Start by getting u_n and u_n+1 
     ! interpolate u to find u_interp = u(t) = u_n     
     CALL SD_Input_ExtrapInterp( u, utimes, u_interp, t, ErrStat2, ErrMsg2 ); CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,'SD_AM2')
     CALL GetExtForceOnInternalDOF(u_interp, p, m, m%F_L, ErrStat2, ErrMsg2, ExtraMoment=(p%ExtraMoment.and..not.p%Floating), RotateLoads=(p%ExtraMoment.and.p%Floating))
     m%udotdot_TP = (/u_interp%TPMesh%TranslationAcc(:,1), u_interp%TPMesh%RotationAcc(:,1)/)
     if (p%Floating) then
        ! >>> New udotdot_TP to body coordinates
        m%udotdot_TP(1:3) = matmul(u_interp%TPMesh%Orientation(:,:,1), m%udotdot_TP(1:3)) 
        m%udotdot_TP(4:6) = matmul(u_interp%TPMesh%Orientation(:,:,1), m%udotdot_TP(4:6)) 
     endif
                  
     ! extrapolate u to find u_interp = u(t + dt)=u_n+1
     CALL SD_Input_ExtrapInterp(u, utimes, u_interp, t+p%SDDeltaT, ErrStat2, ErrMsg2); CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,'SD_AM2')
     CALL GetExtForceOnInternalDOF(u_interp, p, m, F_L2, ErrStat2, ErrMsg2, ExtraMoment=(p%ExtraMoment.and..not.p%Floating), RotateLoads=(p%ExtraMoment.and.p%Floating))
     udotdot_TP2 = (/u_interp%TPMesh%TranslationAcc(:,1), u_interp%TPMesh%RotationAcc(:,1)/)
     if (p%Floating) then
        ! >>> New udotdot_TP to body coordinates
        udotdot_TP2(1:3) = matmul(u_interp%TPMesh%Orientation(:,:,1), udotdot_TP2(1:3)) 
        udotdot_TP2(4:6) = matmul(u_interp%TPMesh%Orientation(:,:,1), udotdot_TP2(4:6)) 
     endif
     
     ! calculate (u_n + u_n+1)/2
  
negative.code:       REAL(ReKi)                   :: Y1_Guy_R(6)
        REAL(ReKi)                   :: Y1_Guy_L(6)
        REAL(ReKi)                   :: Y1_Utp(6)
        REAL(ReKi)                   :: Y1_ExtraMoment(3) ! Lever arm moment contributions due to interface displacement
        REAL(ReKi)                   :: udotdot_TP(6)
        INTEGER(IntKi), pointer      :: DOFList(:)
        REAL(ReKi)                   :: DCM(3,3)
        REAL(ReKi)                   :: F_I(6*p%nNodes_I) !  !Forces from all interface nodes listed in one big array  ( those translated to TP ref point HydroTP(6) are implicitly calculated in the equations)
        TYPE(SD_ContinuousStateType) :: dxdt        ! Continuous state derivatives at t- for output file qmdotdot purposes only
  