anchor.diff:           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:       m%UL_dotdot     = 0.0_ReKi
        ! --- CB modes contribution to motion (L-DOF only)
        if ( p%nDOFM > 0) then
           !if (p%Floating) then ! >>> New
           !   udotdot_TP(1:3) = matmul(Rg2b, u%TPMesh%TranslationAcc( :,1))
           !   udotdot_TP(4:6) = matmul(Rg2b, u%TPMesh%RotationAcc(:,1)    )
           !else
              udotdot_TP = (/u%TPMesh%TranslationAcc( :,1), u%TPMesh%RotationAcc(:,1)/)
           !endif
           m%UL            = matmul( p%PhiM,  x%qm    )
           m%UL_dot        = matmul( p%PhiM,  x%qmdot )
           m%UL_dotdot     = matmul( p%C2_61, x%qm    )    + matmul( p%C2_62   , x%qmdot )    & 
  
negative.code:       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
           !>>> New
           ! NOTE: this introduces some hysteresis
           !if (p%Floating) then
           !   udotdot_TP(1:3) = matmul(Rg2b, u%TPMesh%TranslationAcc( :,1))
           !   udotdot_TP(4:6) = matmul(Rg2b, u%TPMesh%RotationAcc(:,1)    )
           !   Y1_Utp  = Y1_Utp + matmul(RRb2g, matmul(p%MBmmB, udotdot_TP))  
           !else
              Y1_Utp  = Y1_Utp + matmul(p%MBmmB, m%udotdot_TP)  
           !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
        else
           Y1_CB = 0.0_ReKi
        endif
  