anchor.diff:     REAL(BDKi)                  :: sm3
      REAL(BDKi)                  :: em
      REAL(BDKi)                  :: temp
  -   REAL(BDKi)                  :: Rr(3,3)  ! (possibly) corrected rotation matrix
  +   REAL(BDKi)                  :: Rr(3,3)
      INTEGER                     :: i        ! case indicator
   
      INTEGER(IntKi)              :: ErrStat2 ! Temporary Error status
  
positive.code:    REAL(BDKi),       INTENT(  OUT)  :: cc(3)         !< Crv paramters
     INTEGER(IntKi),   INTENT(  OUT)  :: ErrStat       !< Error status of the operation
     CHARACTER(*),     INTENT(  OUT)  :: ErrMsg        !< Error message if ErrStat /= ErrID_None
  
     !Local variables
     REAL(BDKi)                  :: pivot(4) ! Trace of the rotation matrix and diagonal elements
     REAL(BDKi)                  :: sm0
     REAL(BDKi)                  :: sm1
  
negative.code:    ! Initialize ErrStat
     ErrStat = ErrID_None
     ErrMsg  = ""
     
     ! use the local rotation matrix variable to avoid side effects
     Rr = R
  
     !> Starting with equation (14) from AIAA paper, "Geometric Nonlinear Analysis of Composite Beams Using
     !! Wiener-Milenkovic Parameters", Wang, et. al. \n
  