anchor.diff:     REAL(ReKi)                        :: theta
      REAL(ReKi)                        :: TwoSinTheta
      REAL(ReKi)                        :: v(3)
  +   REAL(ReKi)                        :: divisor
      INTEGER(IntKi)                    :: indx_max, i
         
            ! initialization
  
positive.code: !! \f}
  !! where \f$v\f$ is the skew-symmetric matrix associated with the unit-length eigenvector of \f$\Lambda\f$ associated with the eigenvalue 1.
  !! However, this equation has numerical issues near \f$\theta = \pi\f$, so for \f$\theta > 3.1\f$  we instead implement
  !! \f{equation}{
  !!\lambda_1 = \pm \theta\sqrt{ \frac{\left(1 + \Lambda_{11} - \Lambda_{22} - \Lambda_{33}\right)}{2\left(1-\cos\theta\right)}   } \\
  !!\lambda_2 = \pm \theta\sqrt{ \frac{\left(1 + \Lambda_{22} - \Lambda_{11} - \Lambda_{33}\right)}{2\left(1-\cos\theta\right)}   } \\
  !!\lambda_3 = \pm \theta\sqrt{ \frac{\left(1 + \Lambda_{33} - \Lambda_{11} - \Lambda_{22}\right)}{2\left(1-\cos\theta\right)}   }
  !! \f}
  !! and use \f$\Lambda - \Lambda^T\f$ to choose the appropriate signs. 
  !!   
  !! This routine is the inverse of DCM_exp (nwtc_num::dcm_exp). \n
  
negative.code:          v(2) =  DCM(3,1) - DCM(1,3) ! skewSym(3,1)
           v(3) = -DCM(2,1) + DCM(1,2) !-skewSym(2,1)
   
           indx_max = maxloc( abs(v), 1 )  ! find component with largest magnitude
           
           if ( .not. EqualRealNos( sign(1.0_ReKi,v(indx_max)), sign(1.0_ReKi,logMap(indx_max)) )) logMap = -logMap
           
  