anchor.diff:        !Qi, call something to initialize
         call BD_Input_extrapinterp( u, utimes, u_interp, t, ErrStat2, ErrMsg2 )
             call SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
  -WRITE(*,*) 'InitAcc'
  -WRITE(*,*) 'u%Orientation'
  -DO i=1,3
  -WRITE(*,*) u_interp%RootMotion%Orientation(i,:,1)
  -ENDDO
  -WRITE(*,*) 'END InitAcc'
  +!WRITE(*,*) 'InitAcc'
  +!WRITE(*,*) 'u%Orientation'
  +!DO i=1,3
  +!WRITE(*,*) u_interp%RootMotion%Orientation(i,:,1)
  +!ENDDO
  +!WRITE(*,*) 'END InitAcc'
         CALL BD_InitAcc( t, u_interp, p, x_tmp, OtherState, ErrStat2, ErrMsg2)
             call SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
         OtherState%InitAcc = .true. 
  
positive.code:            RHS(temp_id+1:temp_id+3) = RHS(temp_id+1:temp_id+3) + u%Pointload%Force(1:3,j)
             RHS(temp_id+4:temp_id+6) = RHS(temp_id+4:temp_id+6) + u%Pointload%Moment(1:3,j)
         ENDDO
  !WRITE(*,*) 'RHS'
  !WRITE(*,*) RHS
  
         RHS_LU(:)     = 0.0D0
         StifK_LU(:,:) = 0.0D0
  
negative.code:    call BD_Input_extrapinterp( u, utimes, u_interp, t+p%dt, ErrStat2, ErrMsg2 )
        call SetErrStat(ErrStat2,ErrMsg2,ErrStat,ErrMsg,RoutineName)
                   
  !WRITE(*,*) 'UpdateStates'
  !WRITE(*,*) 'u%Orientation'
  !DO i=1,3
  !WRITE(*,*) u_interp%RootMotion%Orientation(i,:,1)
  !ENDDO
  !WRITE(*,*) 'END UpdateStates'
     ! GA2: prediction        
     CALL BD_TiSchmPredictorStep( x_tmp%q,x_tmp%dqdt,OS_tmp%acc,OS_tmp%xcc,             &
                                  p%coef,p%dt,x%q,x%dqdt,OtherState%acc,OtherState%xcc, &
  