anchor.diff:        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) !>>> Rotate All
  -      !endif
  +      if (p%Floating) then
  +         Y1_CB_L = matmul(RRb2g, Y1_CB_L) !>>> Rotate All
  +      endif
   
         Y1 = Y1_CB + Y1_Utp + Y1_CB_L+ Y1_Guy_L + Y1_Guy_R 
         ! KEEP ME
  
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 ! >>> Rotate All
           !   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:    CALL SD_Input_ExtrapInterp( u, utimes, u_interp, t, ErrStat2, ErrMsg2 ); CALL SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,'SD_AM2')
     CALL GetExtForceOnInternalDOF(u_interp, p, x, 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
        ! >>> Rotate All - 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, x, 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
        ! >>> Rotate All - 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
     udotdot_TP2 = 0.5_ReKi * ( udotdot_TP2 + m%udotdot_TP )
  