anchor.diff:          !Aggregate the forces and moments at the interface nodes to the reference point
           !TODO: where are these HydroTP, HydroForces documented?
         DO I = 1, p%nNodes_I 
  -         startDOF = (I-1)*6 + 1
  +         startDOF = (I-1)*6 + 1 ! NOTE: this works since interface is assumed to be sorted like LMesh and have 6 DOF per nodes
            !Take care of Hydrodynamic Forces that will go into INterface Forces later
            HydroForces(startDOF:startDOF+5 ) =  (/u%LMesh%Force(:,I),u%LMesh%Moment(:,I)/)  !(6,NNODES_I)
         ENDDO
  
positive.code:       TYPE(SD_OtherStateType),      INTENT(IN   )  :: OtherState  !< Other states at t
        TYPE(SD_OutputType),          INTENT(INOUT)  :: y           !< Outputs computed at t (Input only so that mesh con-
                                                                    !!   nectivity information does not have to be recalculated)
        TYPE(SD_MiscVarType),         INTENT(INOUT)  :: m           !< Misc/optimization variables
        INTEGER(IntKi),               INTENT(  OUT)  :: ErrStat     !< Error status of the operation
        CHARACTER(*),                 INTENT(  OUT)  :: ErrMsg      !< Error message if ErrStat /= ErrID_None
        !locals
        INTEGER(IntKi)               :: L1,L2       ! partial Lengths of state and input arrays
        INTEGER(IntKi)               :: I,J         ! Counters
        REAL(ReKi)                   :: AllOuts(0:MaxOutPts+p%OutAllInt*p%OutAllDims)
        REAL(ReKi)                   :: rotations(3)
        REAL(ReKi)                   :: ULS(p%nDOFL),  UL0m(p%nDOFL),  FLt(p%nDOFL)  ! Temporary values in static improvement method
        REAL(ReKi)                   :: Y1(6)
        INTEGER(IntKi)               :: startDOF
        REAL(ReKi)                   :: DCM(3,3),junk(6,p%nNodes_L)
        REAL(ReKi)                   :: HydroForces(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)
  
negative.code:          END IF          
        ENDIF    
        ! --- Build original DOF vectors (DOF before the CB reduction)
        m%U_red       (p%IDI) = m%UR_bar
        m%U_red       (p%IDC) = 0           !!! TODO, might not be generic
        m%U_red       (p%IDL) = m%UL     
        m%U_red_dot   (p%IDI) = m%UR_bar_dot
        m%U_red_dot   (p%IDC) = 0           !!! TODO, might not be generic
        m%U_red_dot   (p%IDL) = m%UL_dot     
        m%U_red_dotdot(p%IDI) = m%UR_bar_dotdot
        m%U_red_dotdot(p%IDC) = 0           !!! TODO, might not be generic
        m%U_red_dotdot(p%IDL) = m%UL_dotdot    
  
        m%U_full        = matmul(p%T_red, m%U_red)
        m%U_full_dot    = matmul(p%T_red, m%U_red_dot)
        m%U_full_dotdot = matmul(p%T_red, m%U_red_dotdot)
                                                              
        ! --- Place displacement/velocity/acceleration into Y2 output mesh        
        DO iSDNode = 1,p%nNodes
           iY2Node = m%INodes_SD_to_Mesh(iSDNode)
           DOFList => m%NodesDOF(iSDNode)%List  ! Alias to shorten notations
           ! TODO TODO which orientation to give for joints with more than 6 dofs?
           ! Construct the direction cosine matrix given the output angles
           CALL SmllRotTrans( 'UR_bar input angles', m%U_full(DOFList(4)), m%U_full(DOFList(5)), m%U_full(DOFList(6)), DCM, '', ErrStat2, ErrMsg2)
           CALL SetErrStat(ErrStat2, ErrMsg2, ErrStat, ErrMsg, 'SD_CalcOutput')
           y%Y2mesh%Orientation     (:,:,iY2Node)   = DCM
           y%Y2mesh%TranslationDisp (:,iY2Node)     = m%U_full        (DOFList(1:3))
           y%Y2mesh%TranslationVel  (:,iY2Node)     = m%U_full_dot    (DOFList(1:3))
           y%Y2mesh%TranslationAcc  (:,iY2Node)     = m%U_full_dotdot (DOFList(1:3))
           y%Y2mesh%RotationVel     (:,iY2Node)     = m%U_full_dot    (DOFList(4:6))
           y%Y2mesh%RotationAcc     (:,iY2Node)     = m%U_full_dotdot (DOFList(4:6))
        enddo
        !________________________________________
        ! Set loads outputs on y%Y1Mesh
        !________________________________________
  