anchor.diff:     CALL BD_CalcIC(u_tmp,p,x,OtherState,ErrStat2,ErrMsg2)
         CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
   
  +WRITE(*,*) 'x%q' 
  +WRITE(*,*) x%q 
  +WRITE(*,*) 'x%dqdt' 
  +WRITE(*,*) x%dqdt 
  +WRITE(*,*) 'OtherState%Acc' 
  +WRITE(*,*) OtherState%Acc
  +WRITE(*,*) 'OtherState%Xcc' 
  +WRITE(*,*) OtherState%Xcc
      ! Define initial guess for the system outputs here:
   
      y%BldForce%Force(:,:)    = 0.0D0
  
positive.code: !DO i=1,3
  !WRITE(*,*) u_interp%RootMotion%Orientation(i,:,1)
  !ENDDO
  !WRITE(*,*) 'END u_interp'
                   
     ! GA2: prediction        
     CALL BD_TiSchmPredictorStep( x_tmp%q,x_tmp%dqdt,OS_tmp%acc,OS_tmp%xcc,             &
  
negative.code:    ! enter known endpoints  [-1.0, 1.0]
     x(1) = -1.0D+00
     x(N1) = 1.0D+00
  
     DO i = 1, N1
        x_it = -COS(pi * FLOAT(i-1) / N) ! initial guess - chebyshev points
  