anchor.diff:     p%IniDisp(:) = x%q(:)
      p%IniVelo(:) = x%dqdt(:)
   
  -!   CALL BD_CrvExtractCrv(u%RootMotion%Orientation(:,:,1),xd%rot,ErrStat2,ErrMsg2)
  -!      CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
  -!   p%alpha = 0.0 !exp(-2.0D0*pi*Interval*25.0)
   ! Acutator
  -!   p%pitchK = 0.0 
  -!   p%pitchC = 0.0 
  -!   p%pitchJ = 0.0 
  -!   TmpDCM(:,:) = MATMUL(u%RootMotion%Orientation(:,:,1),TRANSPOSE(u%HubMotion%Orientation(:,:,1)))
  -!   temp_CRV(:) = EulerExtract(TmpDCM)
  -!   xd%thetaP = -temp_CRV(3)    
  -!   xd%thetaPD = 0.0D0
  +   p%pitchK = 2.0D+07 
  +   p%pitchC = 5.0D+05
  +   p%pitchJ = 2.0D+02
  +   TmpDCM(:,:) = MATMUL(u%RootMotion%Orientation(:,:,1),TRANSPOSE(u%HubMotion%Orientation(:,:,1)))
  +   temp_CRV(:) = EulerExtract(TmpDCM)
  +   xd%thetaP = -temp_CRV(3)    
  +   xd%thetaPD = 0.0D0
   ! END Actuator
      ! Define initial guess for the system outputs here:
   
  
positive.code:       CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )   
     CALL BD_CopyInput(u, u_tmp, MESH_NEWCOPY, ErrStat2, ErrMsg2)
        CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
     ! Actuator
     IF( .FALSE.) THEN
         temp_R(:,:) = MATMUL(u%RootMotion%Orientation(:,:,1),TRANSPOSE(u%HubMotion%Orientation(:,:,1)))
  
negative.code:    TYPE(BD_ContinuousStateType)                       :: x_tmp      ! Holds temporary modification to x
     TYPE(BD_OtherStateType     )                       :: OS_tmp     ! Holds temporary modification to x
     TYPE(BD_InputType)                                 :: u_interp   ! interpolated value of inputs
     TYPE(BD_InputType)                                 :: u_tmp2
     INTEGER(IntKi)                                     :: ErrStat2   ! Temporary Error status
     CHARACTER(ErrMsgLen)                               :: ErrMsg2    ! Temporary Error message
     CHARACTER(*), PARAMETER                            :: RoutineName = 'BD_GA2'
     REAL(ReKi):: temp_R(3,3)
     REAL(ReKi):: temp_cc(3)
     REAL(ReKi):: temp22(2,2)
     REAL(ReKi):: temp2(2)
     REAL(ReKi):: temp
     REAL(ReKi):: temp_thetaP
     REAL(ReKi):: temp_omegaP
     REAL(ReKi):: temp_alphaP
     INTEGER(IntKi)                                     :: i
  
     ! Initialize ErrStat
  